Stock-Based Compensation - Schedule of Stock Option Activity Under Equity Incentive Plans (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Number of Shares
Outstanding, beginning balance (in shares) | shares	14,088
Options granted (in shares) | shares	11,854
Options exercised (in shares) | shares	0
Options forfeited and canceled (in shares) | shares	(2,926)
Outstanding, ending balance (in shares) | shares	23,016
Weighted- Average Exercise Price per Share
Outstanding, beginning balance (in dollars per share) | $ / shares	$ 16.4
Options granted (in dollars per share) | $ / shares	0.51
Options exercised (in dollars per share) | $ / shares	0
Options forfeited and canceled (in dollars per share) | $ / shares	16.07
Outstanding, ending balance (in dollars per share) | $ / shares	$ 8.26
Weighted- Average Remaining Contractual Life (in Years)
Weighted-Average Remaining Contractual Life, Outstanding	6 years 5 months 1 day
Aggregate Intrinsic Value, Outstanding | $	$ 0
Number of Shares, Exercisable (in shares) | shares	6,425
Weighted-Average Exercise Price Per Share, Exercisable (in dollars per share) | $ / shares	$ 22.99
Weighted-Average Remaining Contractual Life, Exercisable	3 years 8 months 4 days
Aggregate Intrinsic Value, Exercisable | $	$ 0