Stockholders' Equity (Deficit) - Schedule of Activity Related to Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Options Outstanding
Beginning balance (in shares)	15,076,365	11,649,592
Granted (in shares)	3,861,060	4,217,275
Exercised (in shares)	0	(271,079)
Forfeited and expired (in shares)	(600,769)	(519,423)
Ending balance (in shares)	18,336,656	15,076,365	11,649,592
Exercisable (in shares)	12,395,052
Vested and expected to vest (in shares)	17,530,966
Weighted-Average Exercise Price
Beginning balance (in dollars per share)	$ 6.00	$ 6.27
Granted (in dollars per share)	1.59	5.12
Exercised (in dollars per share)	0	2.24
Forfeited and expired (in dollars per share)	5.56	6.93
Ending balance (in dollars per share)	5.09	$ 6.00	$ 6.27
Exercisable (in dollars per share)	5.68
Vested or expected to vest (in dollars per share)	$ 5.18
Additional Disclosure
Weighted-average remaining contractual life (in years)	6 years 6 months 25 days	7 years 3 months 25 days	7 years 7 months 24 days
Exercisable weighted-average remaining contractual life (in years)	5 years 7 months 9 days
Vested or expected to vest weighted-average remaining contractual life (in years)	6 years 5 months 15 days
Total intrinsic value of options outstanding	$ 0
Total intrinsic value of options exercisable	0
Total intrinsic value of options vested or expected to vest	$ 0