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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - 2018 Equity Inducement Plan and 2016 Employee Stock Purchase Plan - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employees |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation expense | $ 14,237 | $ 7,111 | $ 8,038
Non- Employees |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation expense | 11,437 | 0 | 0
Research and development | Employees |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation expense | 2,910 | 2,591 | 2,723
Research and development | Non- Employees |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation expense | 11,328 | 0 | 0
General and administrative | Employees |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation expense | 11,327 | 4,520 | 5,315
General and administrative | Non- Employees |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation expense | $ 109 | $ 0 | $ 0

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