Equity Incentive Plans - Valuation Assumptions for Stock Options (Details) - Stock options	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (years)	5 years 1 month 6 days	4 years 10 months 24 days	5 years
Expected volatility	97.60%	92.10%	77.00%
Risk-free interest rate	3.80%	2.20%	4.70%
Dividend yield	0.00%	0.00%	0.00%