Warrants - Additional Information (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) Days $ / shares shares	Dec. 31, 2022 $ / shares	Dec. 31, 2021 $ / shares	Dec. 31, 2020 $ / shares
Class Of Warrant Or Right [Line Items]
Exercise price of warrants (in dollars per share)	$ 56.8	$ 46.75	$ 80.43	$ 80.43
Warrants | Hercules Capital Inc | Third Amendment To Loan and Security Agreement
Class Of Warrant Or Right [Line Items]
Common stock to be issued if warrants are exercised (in shares) | shares	18,724
Exercise price of warrants (in dollars per share)	$ 55.01
Warrants | 2023 Warrants
Class Of Warrant Or Right [Line Items]
Common stock to be issued if warrants are exercised (in shares) | shares	9,700
Exercise price of warrants (in dollars per share)	$ 77.31
Fair value | $	$ 1.6
Warrants | 2022 warrants
Class Of Warrant Or Right [Line Items]
Common stock to be issued if warrants are exercised (in shares) | shares	35,255
Exercise price of warrants (in dollars per share)	$ 31.91
Fair value | $	$ 0.8
Warrants | 2020 Warrants
Class Of Warrant Or Right [Line Items]
Common stock to be issued if warrants are exercised (in shares) | shares	15,541
Exercise price of warrants (in dollars per share)	$ 80.43
Trading days | Days	10
Term of warrants (in years)	7 years
Fair value | $	$ 0.9