Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance | shares	12,875,045
Shares Subject to Outstanding Stock Options, Stock Options granted | shares	1,008,364
Shares Subject to Outstanding Stock Options, Stock Options forfeited | shares	(195,745)
Shares Subject to Outstanding Stock Options, Stock Options expired | shares	(67,952)
Shares Subject to Outstanding Stock Options, Stock Options exercised | shares	(30,900)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance | shares	13,588,812
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable | shares	9,662,208
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance | $ / shares	$ 15.9
Weighted Average Exercise Price per Share, Stock Options granted | $ / shares	3.99
Weighted Average Exercise Price per Share, Stock Options forfeited | $ / shares	17.55
Weighted Average Exercise Price per Share, Stock Options expired | $ / shares	17.31
Weighted Average Exercise Price per Share, Stock Options exercised | $ / shares	1.43
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance | $ / shares	15.02
Weighted Average Exercise Price per Share, Stock Options vested and exercisable | $ / shares	$ 16.25
Aggregate Intrinsic Value, Stock Option outstanding | $	$ 108
Aggregate Intrinsic Value, Stock Options vested and exercisable | $	$ 108