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Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2024
Share-Based Payment Arrangement [Abstract]
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance	12,875,045
Shares Subject to Outstanding Stock Options, Stock Options granted	1,008,364
Shares Subject to Outstanding Stock Options, Stock Options forfeited	(696,147)
Shares Subject to Outstanding Stock Options, Stock Options expired	(319,633)
Shares Subject to Outstanding Stock Options, Stock Options exercised	(45,900)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance	12,821,729
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable	9,795,534
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance	$ 15.9
Weighted Average Exercise Price per Share, Stock Options granted	3.99
Weighted Average Exercise Price per Share, Stock Options forfeited	11.57
Weighted Average Exercise Price per Share, Stock Options expired	23.83
Weighted Average Exercise Price per Share, Stock Options exercised	1.61
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance	15.05
Weighted Average Exercise Price per Share, Stock Options vested and exercisable	$ 16.09
Aggregate Intrinsic Value, Stock Option outstanding	$ 120
Aggregate Intrinsic Value, Stock Options vested and exercisable	$ 120

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Share based compensation arrangement by share based payment award options vested and exercisable intrinsic value.

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Number of share options (or share units) exercised during the current period.

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