Stock-based Compensation Expense - Summary of Weighted Average Assumptions Used to Calculate Fair Value of Stock Option (Details) - 2019 Plan and 2016 Plan	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	3.70%	2.70%
Expected dividend yield	0.00%	0.00%
Expected term (years)	6 years 1 month 6 days	6 years 1 month 6 days
Expected stock price volatility	98.60%	90.00%