Equity Incentive Plans - Summary of Stock Option Plan Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding	20,749,349
Number of shares granted	16,210,379
Number of shares exercised	(26,570)	0
Number of shares cancelled	(12,358,296)
Number of shares outstanding	24,574,862	20,749,349
Number of shares outstanding, weighted average exercise price	$ 14.61
Number of shares granted, weighted average exercise price	1.69
Number of shares exercised, weighted average exercise price	1.32
Number of shares cancelled, weighted average exercise price	12.72
Number of shares outstanding, weighted average exercise price	$ 7.06	$ 14.61
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding	3,167,397
Number of shares granted	1,757,506
Number of shares released	(1,627,619)
Number of shares forfeited	(1,892,355)
Number of shares outstanding	1,404,929	3,167,397
Number of shares outstanding, weighted average grant date fair value	$ 6.46
Number of shares granted, weighted average grant date fair value	2.39
Number of shares released, weighted average grant date fair value	6.34
Number of shares forfeited, weighted average grant date fair value	4.27
Number of shares outstanding, weighted average grant date fair value	$ 4.43	$ 6.46