Equity Incentive Plans - Stock Options (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Number of Shares
Options issued and outstanding balance, beginning (shares) | shares	13,963,000
Options granted (shares) | shares	8,914,000
Options exercised (shares) | shares	(226,000)
Options canceled (shares) | shares	(483,000)
Options issued and outstanding balance, ending (shares) | shares	22,168,000
Options vested and expected to vest (shares) | shares	22,168,000
Options exercisable (shares) | shares	12,199,000
Weighted-Average Exercise Price  per Share
Options issued and outstanding balance, beginning (in dollars per share) | $ / shares	$ 4.83
Options granted (in dollars per share) | $ / shares	3.14
Options exercised (in dollars per share) | $ / shares	1.61
Options canceled (in dollars per share) | $ / shares	3.83
Options issued and outstanding balance, ending (in dollars per share) | $ / shares	4.20
Options vested and expected to vest (in dollars per share) | $ / shares	4.20
Options exercisable (in dollars per share) | $ / shares	$ 5.30
Weighted Average Remaining Contractual Term (in Years)
Options issued and outstanding (in years)	7 years 3 months 18 days
Options vest and expected to vest (in years)	7 years 3 months 18 days
Options exercisable (in years)	6 years 1 month 6 days
Aggregate Intrinsic Value
Options issued and outstanding | $	$ 58,606
Options vested and expected to vest | $	58,606
Options exercisable | $	$ 25,116