Stockholders' Equity - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023		Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Options Outstanding, Beginning Balance	5,586,470		4,186,729
Options Outstanding, Options granted	1,474,910		1,741,931
Options Outstanding, Options exercised	(16,421)		0
Options Outstanding, Options cancelled	(2,494,878)	[1]	(342,190)
Options Outstanding, Ending Balance	4,550,081		5,586,470	4,186,729
Options Outstanding, Options exercisable as of December 31, 2023	2,272,248
Options Outstanding, Options vested and expected to vest as of December 31, 2023	4,550,081
Weighted-Average Exercise Price, Beginning Balance	$ 23.4		$ 27.53
Weighted-Average Exercise Price, Options granted	8.54		14.62
Weighted-Average Exercise Price, Options exercised	7.54		0
Weighted-Average Exercise Price, Options cancelled	35.96	[1]	29.32
Weighted-Average Exercise Price, Ending Balance	11.75		$ 23.4	$ 27.53
Weighted-Average Exercise Price, Options exercisable as of December 31, 2023	12.65
Weighted-Average Exercise Price, Options vested and expected to vest as of December 31, 2023	$ 11.75
Weighted-Average Remaining Contractual Term	7 years 6 months		7 years 10 months 24 days	7 years 10 months 28 days
Weighted-Average Remaining Contractual Term, Options exercisable as of December 31, 2023	6 years 1 month 20 days
Weighted-Average Remaining Contractual Term, Options vested and expected to vest as of December 31, 2023	7 years 6 months
Aggregate Intrinsic Value, Balance	$ 3,379		$ 4,476	$ 13,973
Aggregate Intrinsic Value, Options exercisable as of December 31, 2023	2,088
Aggregate Intrinsic Value, Options vested and expected to vest as of December 31, 2023	$ 3,379

[1] The number of stock options cancelled includes those exchanged in the Option Exchange (as defined above).