Organization and Description of the Business - Additional Information (Details) - USD ($)			3 Months Ended
	Mar. 05, 2025	Feb. 12, 2024	Mar. 31, 2025	Mar. 31, 2024	Dec. 31, 2024	Aug. 06, 2024	May 14, 2024
Organization And Description Of Business [Line Items]
Accumulated deficit			$ (541,275,000)		$ (514,411,000)
Net loss			(26,864,000)	$ (32,228,000)
Cash, cash equivalents and investments in marketable securities			88,200,000
Follow On Offering
Organization And Description Of Business [Line Items]
Proceeds from issuance of common stock at the market	$ 48,800,000	$ 46,800,000
Underwriting discounts and commissions	3,200,000	$ 3,000,000
Other offering expenses	$ 500,000
Workforce Reduction
Organization And Description Of Business [Line Items]
Percentage of reduction in workforce							22.00%
Estimates aggregate charges			1,000,000				$ 1,400,000
Workforce Reduction | Maximum
Organization And Description Of Business [Line Items]
Estimates aggregate charges			$ 2,700,000
Silicon Valley Bank Loan Agreement
Organization And Description Of Business [Line Items]
Current loan amount available						$ 22,500,000
Silicon Valley Bank Loan Agreement | Maximum
Organization And Description Of Business [Line Items]
Additional amount available upon satisfaction of certain milestones						2,500,000
Remaining amount available						$ 20,000,000