Stockholders' Equity - Stock Option Activity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Shares
Stock options outstanding at beginning of period	7,036,874	2,954,315
Granted	0	4,307,599
Exercised		(12,765)
Expired	(198,478)	(82,253)
Forfeited	(399,465)	(130,022)
Stock options outstanding at end of period	6,438,931	7,036,874
Stock options expected to vest at end of period	6,438,931
Stock options exercisable at end of period	4,601,719
Weighted Average Exercise Price
Stock options outstanding at beginning of period (in dollars per share)	$ 3.67	$ 7.62
Granted (in dollars per share)		1.10
Exercised (in dollars per share)		1.30
Expired (in dollars per share)	6.69	10.20
Forfeited (in dollars per share)	2.88	4.44
Stock options outstanding at end of period (in dollars per share)	3.63	$ 3.67
Stock options expected to vest at end of period (in dollars per share)	3.63
Stock options exercisable at end of period (in dollars per share)	$ 4.52
Aggregate Intrinsic Value
Stock options outstanding at beginning of period	$ 16,842	$ 100,419
Stock options outstanding at end of period	9,052	$ 16,842
Stock options expected to vest at end of period	9,052
Stock options exercisable at end of period	$ 9,052
Weighted Average Remaining Contractual Life
Stock options outstanding at end of period	8 years
Stock options expected to vest at end of period	8 years
Stock options exercisable at end of period	7 years 8 months 12 days
Unrecognized stock-based compensation expense	$ 2,000,000.0
Unrecognized stock-based compensation expense, recognition period	1 year
Weighted-average fair value of options		$ 0.87
Stock options were granted	0