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Stock-Based Compensation - Weighted-Average Assumptions Used in Calculating Fair Value of Awards (Details) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Dividend yield | 0.00% | 0.00% | 0.00%
Stock Options |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Expected term (in years) | 5 years 10 months 17 days | 6 years | 5 years 11 months 26 days
Expected volatility | 107.00% | 84.00% | 83.00%
Risk-free interest | 4.37% | 2.93% | 0.88%
Dividend yield | 0.00% | 0.00% | 0.00%
2016 Employee Stock Purchase Plan |  |  |
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items] |  |  |
Expected term (in years) | 5 months 26 days | 5 months 26 days | 6 months
Expected volatility | 181.00% | 84.00% | 86.00%
Risk-free interest | 4.99% | 1.95% | 0.08%
Dividend yield | 0.00% | 0.00% | 0.00%

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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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