Equity Incentive Plans - Summary of Activity for Service-based Stock Options (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate Intrinsic Value	$ 300,000	$ 1,400,000
2022 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate Intrinsic Value	0	0
Novosteo
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate Intrinsic Value	$ 427,000	$ 0
Service Based Stock Options | 2019 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options and Unvested Shares, beginning balance	3,319,711	5,571,293
Number of Options and Unvested Shares, granted	3,346,958	2,051,058
Number of Options and Unvested Shares, exercised	(258,705)	(102,152)
Number of Options and Unvested Shares, Options cancelled / forfeited	(2,140,786)	(4,200,488)
Number of Options and Unvested Shares, ending balance	4,267,178	3,319,711	5,571,293
Number of Options and Unvested Shares, vested and expected to vest	4,267,178
Number of Options and Unvested Shares, exercisable	1,109,464
Weighted Average Exercise Price, beginning balance	$ 16.07	$ 28.7
Weighted Average Exercise Price, granted	1.03	8.13
Weighted Average Exercise Price, exercised	0.42	1.45
Weighted Average Exercise Price, cancelled/forfeited	16.52	29.3
Weighted Average Exercise Price, ending balance	5	$ 16.07	$ 28.7
Weighted Average Exercise Price, vested and expected to vest	5
Weighted Average Exercise Price, exercisable	$ 14.09
Weighted Average Remaining Contractual Life	8 years 10 months 6 days	4 years 9 months 7 days	8 years 3 months 3 days
Weighted Average Remaining Contractual Life, vested and expected to vest	8 years 10 months 6 days
Weighted Average Remaining Contractual Life, exercisable	7 years 3 months 25 days
Aggregate Intrinsic Value	$ 197,000	$ 65,000	$ 15,687,000
Aggregate Intrinsic Value, vested and expected to vest	197,000
Aggregate Intrinsic Value, exercisable	$ 34,000
Service Based Stock Options | 2022 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options and Unvested Shares, beginning balance	3,742,255
Number of Options and Unvested Shares, granted		3,744,255
Number of Options and Unvested Shares, Options cancelled / forfeited	(1,408,949)	(2,000)
Number of Options and Unvested Shares, ending balance	2,333,306	3,742,255
Number of Options and Unvested Shares, vested and expected to vest	2,333,306
Number of Options and Unvested Shares, exercisable	923,599
Weighted Average Exercise Price, beginning balance	$ 2.98
Weighted Average Exercise Price, granted		$ 2.98
Weighted Average Exercise Price, cancelled/forfeited	2.98	2.98
Weighted Average Exercise Price, ending balance	2.98	$ 2.98
Weighted Average Exercise Price, vested and expected to vest	2.98
Weighted Average Exercise Price, exercisable	$ 2.98
Weighted Average Remaining Contractual Life	8 years 4 months 20 days	9 years 4 months 20 days
Weighted Average Remaining Contractual Life, vested and expected to vest	8 years 4 months 20 days
Weighted Average Remaining Contractual Life, exercisable	8 years 4 months 20 days
Service Based Stock Options | Novosteo
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options and Unvested Shares, beginning balance	503,105
Number of Options and Unvested Shares, assumed		507,648
Number of Options and Unvested Shares, exercised	(105,808)
Number of Options and Unvested Shares, Options cancelled / forfeited	(86,866)	(4,543)
Number of Options and Unvested Shares, ending balance	310,431	503,105
Number of Options and Unvested Shares, vested and expected to vest	310,431
Number of Options and Unvested Shares, exercisable	135,812
Weighted Average Exercise Price, beginning balance	$ 0.55
Weighted Average Exercise Price, assumed		$ 0.55
Weighted Average Exercise Price, exercised	0.55
Weighted Average Exercise Price, cancelled/forfeited	0.55	0.55
Weighted Average Exercise Price, ending balance	0.55	$ 0.55
Weighted Average Exercise Price, vested and expected to vest	0.55
Weighted Average Exercise Price, exercisable	$ 0.55
Weighted Average Remaining Contractual Life	8 years 2 months 23 days	9 years 2 months 23 days
Weighted Average Remaining Contractual Life, vested and expected to vest	8 years 2 months 23 days
Weighted Average Remaining Contractual Life, exercisable	8 years 2 months 23 days
Aggregate Intrinsic Value	$ 155,000	$ 44,000
Aggregate intrinsic value, exercised	40,000
Aggregate Intrinsic Value, vested and expected to vest	155,000
Aggregate Intrinsic Value, exercisable	$ 68,000