Long-Term Debt - Hercules Loan Agreements (Details)				1 Months Ended			12 Months Ended
	Jul. 01, 2024 USD ($)	Jul. 01, 2023 USD ($)	Jan. 01, 2022 USD ($)	Jun. 30, 2019	Dec. 31, 2018 USD ($)	Oct. 31, 2018 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)	Dec. 21, 2020 USD ($)	Mar. 31, 2020 USD ($)	Mar. 13, 2020 USD ($)	Jun. 27, 2019 USD ($)	Mar. 13, 2019 USD ($)	Dec. 11, 2018 USD ($)
Line of Credit Facility [Line Items]
Fair value of warrants											$ 288,000			$ 5,200,000
Unamortized discount								$ 317,000
Hercules Loan Agreements
Line of Credit Facility [Line Items]
Proceeds from line of credit						$ 8,000,000.0
Fair value of warrants					$ 282,000				$ 282,000						$ 132,000
Periodic payment									795,000
Debt discount amortization							$ 500,000	400,000	100,000
Interest expense							2,700,000	$ 1,800,000	$ 200,000
Hercules Loan Agreements | Additional Term Loan One
Line of Credit Facility [Line Items]
Proceeds from line of credit					$ 2,000,000.0
Hercules Amended and Restated Loan Agreement
Line of Credit Facility [Line Items]
Interest rate				8.75%
Increase in interest rate				4.00%
Maximum borrowing capacity													$ 35,000,000.0
Hercules Amended and Restated Loan Agreement | Prime Rate
Line of Credit Facility [Line Items]
Interest rate				6.00%
Hercules Amended and Restated Loan Agreement | Minimum
Line of Credit Facility [Line Items]
Variable interest rate				8.75%
Hercules Amended and Restated Loan Agreement | Additional Term Loan Two
Line of Credit Facility [Line Items]
Additional borrowing capacity													5,000,000.0
Hercules Amended and Restated Loan Agreement | Previous Borrowings
Line of Credit Facility [Line Items]
Credit outstanding													10,000,000.0
Hercules Amended and Restated Loan Agreement | New Borrowings
Line of Credit Facility [Line Items]
Current borrowing capacity													$ 10,000,000.0
Hercules First Amended Loan Agreement
Line of Credit Facility [Line Items]
Current borrowing capacity												$ 25,000,000.0
Maximum borrowing capacity												50,000,000.0
Hercules First Amended Loan Agreement | Previous Borrowings
Line of Credit Facility [Line Items]
Current borrowing capacity												20,000,000.0
Hercules First Amended Loan Agreement | New Borrowings
Line of Credit Facility [Line Items]
Credit outstanding												5,000,000.0
Hercules First Amended Loan Agreement | Milestone 1 Borrowings [Member]
Line of Credit Facility [Line Items]
Credit outstanding												7,500,000
Hercules First Amended Loan Agreement | Milestone 2 Borrowings [Member]
Line of Credit Facility [Line Items]
Credit outstanding												7,500,000
Hercules First Amended Loan Agreement | Discretionary Borrowings [Member]
Line of Credit Facility [Line Items]
Credit outstanding												$ 10,000,000.0
Hercules Second Amended Loan Agreement
Line of Credit Facility [Line Items]
Principal payments							$ 0
Effective interest rate							10.70%
Payment premium percentage							0.020
Hercules Second Amended Loan Agreement | Forecast
Line of Credit Facility [Line Items]
Periodic payment	$ 800,000	$ 1,300,000	$ 800,000
Hercules Second Amended Loan Agreement | Previous Borrowings
Line of Credit Facility [Line Items]
Current borrowing capacity										$ 25,000,000.0
Hercules Second Amended Loan Agreement | Milestone 1 Borrowings [Member]
Line of Credit Facility [Line Items]
Credit outstanding										7,500,000
Hercules Second Amended Loan Agreement | Milestone 2 Borrowings [Member]
Line of Credit Facility [Line Items]
Credit outstanding										7,500,000
Hercules Second Amended Loan Agreement | Discretionary Borrowings [Member]
Line of Credit Facility [Line Items]
Credit outstanding										$ 10,000,000.0
Hercules Second Amended Loan Agreement | Min Cash Test Date 1 [Member]
Line of Credit Facility [Line Items]
Line of Credit, Covenant, Minimum Cash							$ 30,000,000.0
Hercules Second Amended Loan Agreement | Min Cash Test Date 2 [Member]
Line of Credit Facility [Line Items]
Line of Credit, Covenant, Minimum Cash							$ 20,000,000.0