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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
Mar. 31, 2025
Mar. 31, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected volatility, minimum 86.82% 85.28%
Expected volatility, maximum 86.99% 86.42%
Risk-free interest rate, minimum 4.11% 4.04%
Risk-free interest rate, maximum 4.45% 4.28%
Expected dividend 0.00% 0.00%
Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 5 years 11 months 26 days 5 years 11 months 26 days
Underlying common stock fair value (USD per share) $ 1.54 $ 15.19
Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 6 years 29 days 6 years 21 days
Underlying common stock fair value (USD per share) $ 12.63 $ 17.44