Stock-Based Compensation - Stock Option Activity (Details) - Stock options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Balance at the beginning of the period (in shares)	979,748	722,765
Granted (in shares)	457,600	260,285
Exercised (in shares)	0	0
Forfeited (in shares)	(66,423)	(1,859)
Expired (in shares)	(32,004)	(1,443)
Balance at the end of the period (in shares)	1,338,921	979,748	722,765
Vested and expected to vest at the end of the period (in shares)	1,338,921
Options exercisable at the end of the period (in shares)	664,919
Weighted Average Exercise Price
Balance at the beginning of the period (in dollars per share)	$ 14.10	$ 19.22
Granted (in dollars per share)	2.16	3.72
Exercised (in dollars per share)	0	0
Forfeited (in dollars per share)	6.35	7.55
Expired (in dollars per share)	75.42	712.92
Balance at the end of the period (in dollars per share)	8.94	$ 14.10	$ 19.22
Vested and expected to vest at the end of the period (in dollars per share)	8.94
Exercisable at the end of the period (in dollars per share)	$ 14.15
Remaining Contractual Term
Balance	7 years 5 months 15 days	8 years 1 month 24 days	8 years 9 months 14 days
Vested and expected to vest	7 years 5 months 15 days
Exercisable	6 years 9 months 21 days
Aggregate Intrinsic Value
Balance	$ 0	$ 0	$ 0
Vested and expected to vest	0
Exercisable	$ 0