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Stock-Based Compensation Expense - Additional Information (Details) - USD ($)		3 Months Ended
	Jan. 01, 2024	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Apr. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted		2,346,602
Shares of common stock reserved for future issuances		23,909,135
RSUs granted		984,929
Common stock shares issued		60,964,775		57,214,550
Shares available for issuance		724,906
Stock-based compensation expense		$ 2,162,000	$ 1,610,000
Exercise price per share, granted		$ 5.24
Weighted-average fair value of options granted to employees, directors and non-employees		$ 3.64	$ 2
Stock-based compensation expense recorded as liability		$ 281,000	$ 0
Shares probable to vest		27,869
Risk-free interest rate		4.10%	3.70%
Volatility		77.10%	83.30%
Expected term		6 years	6 years
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized expense		$ 12,500,000
Unrecognized share based compensation amount recognition term		3 years 2 months 15 days
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized expense		$ 3,900,000
Unrecognized share based compensation amount recognition term		2 years 7 months 6 days
Performance-Based Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		3 years 9 months 18 days
Unrecognized stock compensation expense to be recognized		$ 1,500,000
2024 Performance Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate		4.26%
Volatility		76.82%
Expected dividend yield		0.00%
Expected term		6 years
2024 Performance Option \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted		183,333
2024 PSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense		$ 12,000
2024 PSUs \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares probable to vest		128,333
2020 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares available for grant		761,474
2020 Plan \| 2024 Performance Option \| Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted		550,000
Exercise price per share, granted		$ 6.07
2020 Plan \| 2024 PSUs \| Executive Chair
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
RSUs granted		385,000
Inducement Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares available for grant		200,800
2020 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted		0
Shares of common stock reserved for future issuances					438,834
Maximum number of common shares issued	286,072