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Stock Incentive Plans - Summary of Option, Unvested RSU Activity under 2014 Equity Incentive Plan and 2016 Inducement Equity Incentive Plan and Related Information (Details)
 3 Months Ended
Mar. 31, 2024
$ / shares
shares
Shares Available for Grant  
Shares available for grant beginning balance (in shares) 869,111
Additional options authorized (in shares) 2,060,135
Common stock awards for services (in shares) (6,813)
RSUs granted (in shares) (2,716,211)
Options granted (in shares) 0
Repurchase of common stock under employee incentive plans (in shares) 65,601
RSUs forfeited (in shares) 158,348
Options forfeited (in shares) 13,190
Options expired (in shares) 66,475
Shares available for grant ending balance (in shares) 509,836
Stock Options Outstanding  
Stock options outstanding beginning balance (in shares) 3,055,208
Stock options granted (in shares) 0
Stock options exercised (in shares) (1,501)
Stock options forfeited (in shares) (13,190)
Stock options expired (in shares) (66,475)
Stock options outstanding ending balance (in shares) 2,974,042
Weighted- Average Exercise Price  
Weighted average exercise price beginning balance (in dollars per share) | $ / shares $ 25.21
Weighted average exercise price - options granted (in dollars per share) | $ / shares 0
Weighted average exercise price - options exercised (in dollars per share) | $ / shares 5.63
Weighted average exercise price - options forfeited (in dollars per share) | $ / shares 28.32
Weighted average exercise price - options expired (in dollars per share) | $ / shares 30.46
Weighted average exercise price ending balance (in dollars per share) | $ / shares $ 25.08
Number of RSU Shares  
RSUs granted (in shares) 2,716,211
RSUs forfeited (in shares) (158,348)
Restricted Stock Units  
Shares Available for Grant  
RSUs granted (in shares) (2,716,211)
RSUs forfeited (in shares) 158,348
Number of RSU Shares  
Number of RSU shares beginning balance (in shares) 5,006,775
RSUs granted (in shares) 2,716,211
RSUs vested (in shares) (319,737)
RSUs forfeited (in shares) (158,348)
Number of RSU shares ending balance (in shares) 7,244,901
Weighted- Average Grant Date Fair Value  
Weighted average grant date fair value beginning balance (in dollars per share) | $ / shares $ 19.02
Weighted average grant date fair value - RSUs granted (in dollars per share) | $ / shares 9.36
Weighted average grant date fair value - RSUs vested (in dollars per share) | $ / shares 27.50
Weighted average grant date fair value - RSUs forfeited (in dollars per share) | $ / shares 18.56
Weighted average grant date fair value ending balance (in dollars per share) | $ / shares $ 15.17