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Stockholders' Equity - Shares Reserved for Future Issuance (Details) - shares | Sep. 30, 2023 | Dec. 31, 2022
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Equity Disclosure [Line Items] |  |
Total shares reserved for future issuance | 72,360,000 | 67,238,000
Outstanding stock options |  |
Equity Disclosure [Line Items] |  |
Total shares reserved for future issuance | 35,160,000 | 36,520,000
Restricted Stock Units (RSUs) |  |
Equity Disclosure [Line Items] |  |
Total shares reserved for future issuance | 4,589,000 | 4,750,000
Warrants to purchase common stock |  |
Equity Disclosure [Line Items] |  |
Total shares reserved for future issuance | 15,023,000 | 15,023,000
Incentive Plan |  |
Equity Disclosure [Line Items] |  |
Total shares reserved for future issuance | 11,934,000 | 4,206,000
Inducement Plan |  |
Equity Disclosure [Line Items] |  |
Total shares reserved for future issuance | 200,000 | 947,000
Employee Stock Purchase Plan |  |
Equity Disclosure [Line Items] |  |
Total shares reserved for future issuance | 5,454,000 | 5,792,000

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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