Equity Incentive Plans - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended				12 Months Ended
	Jun. 18, 2014	Jan. 31, 2024	Dec. 31, 2022	Jan. 31, 2022	Jan. 31, 2021	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022	Jun. 14, 2024	Jun. 13, 2024	Nov. 30, 2016
Equity Incentive Plans
Common stock closing price (in dollars per share)						$ 5.07
Intrinsic value of options exercised						$ 19,600	$ 1,100	$ 30
Fair value of options vested						$ 61,000	$ 24,900	$ 7,000
Weighted-average grant-date estimated fair value of options granted (in dollars per share)						$ 6.22	$ 2.36	$ 0.63
Issuance of common stock for services						$ 257	$ 337	$ 390
2014 Plan
Equity Incentive Plans
Number of shares added to initial reserve	35,000
Common stock reserved for future issuance (in shares)	1,500,000					18,100,000
Potential increase to shares reserved for inclusion of forfeited or unexercised options from prior plan	1,200,000
Potential increase in shares reserved as a percentage of shares outstanding	4.00%
Additional shares added (in shares)									19,000,000.0
Shares that may be issued upon exercise (in shares)									58,500,000	10,700,000
Inducement Plan
Equity Incentive Plans
Number of shares added to initial reserve		5,800,000	3,000,000	2,000,000	500,000
Common stock reserved for future issuance (in shares)						3,900,000					1,000,000.0
Share of common stock subject to issued inducement grants						8,800,000
ESPP
Equity Incentive Plans
Common stock reserved for future issuance (in shares)	200,000					3,700,000
Potential increase in shares reserved as a percentage of shares outstanding	1.00%
Additional shares added (in shares)									3,000,000.0
Weighted-average grant-date estimated fair value of options granted (in dollars per share)						$ 4.64	$ 1.85	$ 0.63
Dividend yield						0.00%	0.00%	0.00%
Issuance of common stock for services (in shares)						500,000	400,000	300,000
Maximum shares to be issued under ESPP	2,200,000
Stock options
Equity Incentive Plans
Dividend yield						0.00%	0.00%	0.00%
RSUs
Equity Incentive Plans
Estimated fair value of RSUs vested						$ 16,400	$ 3,500	$ 2,600
Board of directors
Equity Incentive Plans
Issuance of common stock for services (in shares)						41,000	100,000	700,000
Issuance of common stock for services						$ 300	$ 300	$ 400