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) - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2025	Sep. 30, 2024	Sep. 30, 2025	Sep. 30, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, maximum	208.00%		208.00%	63.92%
Risk-free interest rate, maximum		5.27%		5.27%
Incentive Stock Options and Nonqualified Stock Options | 2015 and 2020 Equity Incentive Plans and 2020 Inducement Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility	0.00%
Expected volatility, minimum		85.14%	86.82%	85.14%
Expected volatility, maximum		85.74%	89.30%	86.46%
Risk-free interest rate	0.00%
Risk-free interest rate, minimum		3.45%	3.98%	3.45%
Risk-free interest rate, maximum		4.20%	4.45%	4.60%
Expected dividend	0.00%	0.00%	0.00%	0.00%
Underlying common stock fair value	$ 0
Incentive Stock Options and Nonqualified Stock Options | 2015 and 2020 Equity Incentive Plans and 2020 Inducement Plan | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)		6 years 3 days	5 years 4 months 2 days	5 years 3 months 21 days
Underlying common stock fair value		$ 11.09	$ 1.37	$ 11.09
Incentive Stock Options and Nonqualified Stock Options | 2015 and 2020 Equity Incentive Plans and 2020 Inducement Plan | 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
Underlying common stock fair value		$ 13.23	$ 12.63	$ 17.44