Stockholders’ Equity and Stock-based Compensation - Stock Option Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Number of Options
Beginning Balance (in shares) | shares	7,455
Granted (in shares) | shares	3,234
Forfeited (in shares) | shares	(2,151)
Exercised (in shares) | shares	(285)
Ending Balance (in shares) | shares	8,253
Weighted-Average Exercise Price
Beginning Balance (dollars per share) | $ / shares	$ 11.83
Granted (dollars per share) | $ / shares	1.98
Forfeited (dollars per share) | $ / shares	9.30
Exercised (dollars per share) | $ / shares	3.23
Ending Balance (dollars per share) | $ / shares	$ 8.92
Stock Option Activity, Additional Disclosures
Balance, Weighted-Average Remaining Contractual Term	6 years 8 months 26 days
Balance, Aggregate Intrinsic Value | $	$ 19
Exercisable (in shares) | shares	4,949
Exercisable (in dollars per share) | $ / shares	$ 10.66
Exercisable, Weighted-Average Remaining Contractual Term	5 years 6 months 21 days
Exercisable, Aggregate Intrinsic Value | $	$ 13
Unvested and expected to vest (in shares) | shares	3,303
Unvested and expected to vest (in dollars per share) | $ / shares	$ 6.33
Unvested and expected to vest, Weighted-Average Remaining Contractual Term	8 years 7 months 24 days
Unvested and expected to vest, Aggregate Intrinsic Value | $	$ 6