Equity Incentive Plans and Stock-Based Compensation - Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 and 2020 Equity Incentive Plans and 2020 Inducement Plan - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	85.14%	82.66%	85.14%	80.97%
Expected volatility, maximum	85.74%	83.22%	86.46%	83.22%
Risk-free interest rate, minimum	3.45%	3.95%	3.45%	3.42%
Risk-free interest rate, maximum	4.20%	4.38%	4.60%	4.38%
Expected dividend	0.00%	0.00%	0.00%	0.00%
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 3 days	6 years	5 years 3 months 21 days	5 years 3 months 21 days
Underlying common stock fair value (USD per share)	$ 11.09	$ 16.01	$ 11.09	$ 16.01
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 25 days	6 years 29 days	6 years 29 days	6 years 29 days
Underlying common stock fair value (USD per share)	$ 13.23	$ 18.80	$ 17.44	$ 34.65