Stock-Based Compensation - Schedule of Stock Option Activity (Details) - Stock Options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding. Stock Options, Beginning Balance	6,158,078	3,649,962
Options granted, Stock Options	2,726,871	4,775,676
Options cancelled or forfeited, Stock Options	(2,050,562)	(2,048,192)
Options expired, Stock Options	(873,465)	(219,368)
Outstanding. Stock Options, Ending Balance	5,960,922	6,158,078	3,649,962
Options exercisable at December 31, 2023	1,580,373
Outstanding, Weighted Average Exercise Price, Beginning balance	$ 11.84	$ 24.13
Options granted, Weighted Average Exercise Price	0.99	4.48
Options cancelled or forfeited, Weighted Average Exercise Price	10.7	15.25
Options expired, Weighted Average Exercise Price	22.21	24.36
Outstanding, Weighted Average Exercise Price, Ending balance	5.75	$ 11.84	$ 24.13
Options exercisable at December 31, 2023, Weighted Average Exercise Price	$ 13.51
Outstanding, Weighted Average Remaining Contractual Life	8 years 8 months 12 days	8 years 10 months 24 days	9 years 2 months 12 days
Weighted Average Remaining Contractual Life, Options exercisable at December 31, 2023	7 years 7 months 6 days
Outstanding, Aggregate Intrinsic Value, Beginning Balance	$ 62
Outstanding, Aggregate Intrinsic Value, Ending Balance	1,960	$ 62
Options exercisable at December 31, 2023, Aggregate Intrinsic Value	$ 8