Stock-based Compensation Expense - Summary of Stock Option Activity (Details) - 2019 Plan and 2016 Plan - Stock Option - USD ($)	12 Months Ended
	Dec. 31, 2024	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding, Beginning balance	9,972,217
Number of Shares, Granted	4,226,008
Number of Shares, Exercised	(427,757)
Number of Shares, Cancelled	(4,415,769)
Number of Shares, Outstanding, Ending balance	9,354,699	9,972,217
Number of Shares, Exercisable	4,349,742
Weighted Average Exercise Price, Outstanding, Beginning balance	$ 8.44
Weighted Average Exercise Price, Granted	7.7
Weighted Average Exercise Price, Exercised	5.62
Weighted Average Exercise Price, Cancelled	10.08
Weighted Average Exercise Price, Outstanding, Ending balance	7.46	$ 8.44
Weighted Average Exercise Price, Exercisable	$ 9.06
Weighted Average Remaining Contractual Term (in years), Outstanding	8 years 10 days	8 years 5 months 26 days
Weighted Average Remaining Contractual Term (in years), Exercisable	7 years 4 months 6 days
Aggregate Intrinsic Value, Outstanding	$ 5,353,463	$ 15,114,074
Aggregate Intrinsic Value, Exercisable	$ 2,045,339