Stockholders' Equity - Summary of Outstanding Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of Options (In Thousands)
Beginning balance (in shares)	14,215
Options grants (in shares)	5,662
Options exercised (in shares)	(351)
Options cancelled (in shares)	(3,275)
Options expired (in shares)	(3,261)
Ending balance (in shares)	12,990	14,215
Number of options vested and expected to vest (in shares)	12,457
Exercisable (in shares)	7,803
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 14.74
Options granted (in dollars per share)	3.95
Options exercised (in dollars per share)	1.90
Options forfeited (in dollars per share)	10.89
Options expired (in dollars per share)	13.30
Ending balance (in dollars per share)	11.73	$ 14.74
Vested and expected to vest, weighted average exercise price (in dollars per share)	11.92
Exercisable, weighted average exercise price (in dollars per share)	$ 14.15
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual life	6 years 11 months 1 day	6 years 10 months 20 days
Vested and expected to vest, weighted average remaining contractual life	6 years 10 months 2 days
Exercisable, weighted average remaining contractual life	5 years 7 months 13 days
Aggregate intrinsic value	$ 42	$ 1,749
Vested and expected to vest, aggregate intrinsic value	37
Exercisable, aggregate intrinsic value	$ 0