Equity Incentive Plans and Stock-Based Compensation - Incentive Stock Options and Nonqualified Stock Options - Narrative (Details) - 2015 and 2020 Equity Incentive Plans and 2020 Inducement Plan $ in Millions	9 Months Ended
	Sep. 30, 2024 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	4 years
Expiration period from date of grant	10 years
Incentive Stock Options and Nonqualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost	$ 47.2
Unrecognized compensation expense, weighted average period	2 years 7 months 6 days