Stock-Based Compensation - Assumptions Used to Calculate Fair Values of Options (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term	6 years 1 month 6 days	6 years 1 month 6 days
Expected volatility, minimum	81.76%	86.76%	90.00%
Expected volatility, maximum	86.90%	89.88%	103.60%
Risk-free interest rate, minimum	3.56%	1.62%	0.60%
Risk-free interest rate, maximum	4.83%	4.05%	1.40%
Dividend yield	0.00%	0.00%	0.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term			5 years 6 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term			6 years 1 month 6 days