Stock Incentive Plans - Additional Information (Details) $ / shares in Units, $ in Thousands		1 Months Ended	12 Months Ended
	Jan. 01, 2024 shares	Mar. 31, 2018 shares	Dec. 31, 2023 USD ($) Employee $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate proceeds from shares issued under the plan | $			$ 168	$ 595
Stock-based compensation | $			$ 7,324	$ 13,054
Weighted-average grant date fair value per share for options granted | $ / shares			$ 1.01	$ 1.68
Total compensation cost reversed | $			$ 400	$ 100
Compensation cost | $				800
Incremental compensation cost | $			$ 100
Incremental compensation cost related to vested awards | $				$ 400
Number of Employees Terminated | Employee			86
Restricted Stock [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total compensation cost reversed | $			$ 500
Compensation cost | $			$ 200
Number of stock award and exercise vested option to transferred employees | shares			1,000,000
Stock Option [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock award and exercise vested option to transferred employees | shares			6,300,000
OXB Solutions | Restricted Stock [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock award and exercise vested option to transferred employees | shares			100,000
OXB Solutions | Stock Option [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock award and exercise vested option to transferred employees | shares			1,600,000
2015 Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting period			4 years
Stock options expiration period			10 years
Number of additional shares available for future grant | shares			0
2018 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance | shares		3,186,205
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock		4.00%
Maximum shares of common stock may be issued | shares		20,887,347
Number of shares outstanding available for future grant | shares	2,320,696		4,978,083
2018 Incentive Award Plan | Subsequent Event [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock	4.00%
2018 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance | shares		353,980
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock		1.00%
Number of shares outstanding available for future grant | shares	580,174		2,693,911
Maximum shares allowed to be issued under ESPP | shares		4,778,738
Purchase of common stock through payroll deductions expressed in percentage of fair market value			85.00%
Common stock offering period			6 months
Number of shares issued to the plan | shares			133,817	226,453
Aggregate proceeds from shares issued under the plan | $			$ 200	$ 600
Stock-based compensation | $			100	$ 100
Excess of accrued right to purchase stock | $			25,000
2018 Employee Stock Purchase Plan | Subsequent Event [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock	1.00%
2015 and 2018 Stock Incentive Plans
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense | $			$ 13,100
Unrecognized compensation expense estimated to be recognized over period			2 years