Stock-Based Compensation - Schedule of Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Units
Beginning outstanding balance (in shares)	4,344,812	2,023,460
Granted (in shares)	649,865	3,275,224
Cancelled/Forfeited (in shares)	(504,550)	(953,872)
Exercised (in shares)	(262,500)
Ending outstanding balance (in shares)	4,227,627	4,344,812	2,023,460
Exercisable (in shares)	3,590,262
Weighted-Average Exercise Price
Beginning outstanding balance (in usd per share)	$ 4.37	$ 9.51
Granted (in usd per share)	2.27	1.33
Cancelled/Forfeited (in usd per share)	2.39	4.84
Exercised (in usd per share)	1.35
Ending outstanding balance (in usd per share)	4.47	$ 4.37	$ 9.51
Exercisable (in usd per share)	$ 4.86
Weighted-Average Remaining Contractual Term (years)
Options outstanding	5 years 2 months 12 days	7 years 8 months 12 days	6 years 3 months 18 days
Options exercisable	5 years 3 months 18 days