Equity Incentive Plans - Valuation Assumptions for ESPP (Details) - ESPP	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)	6 months	6 months	6 months
Expected volatility	86.00%	97.20%	123.00%
Risk-free interest rate	5.30%	1.90%	0.70%
Dividend yield	0.00%	0.00%	0.00%