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Equity Incentive Plans - Additional Information (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Jul. 24, 2023
$ / shares
shares
May 05, 2023
USD ($)
$ / shares
shares
Feb. 06, 2019
shares
Sep. 30, 2024
USD ($)
shares
Sep. 30, 2023
USD ($)
Sep. 30, 2024
USD ($)
$ / shares
shares
Sep. 30, 2023
USD ($)
$ / shares
Dec. 31, 2023
shares
Nov. 30, 2023
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Shares outstanding awarded (in shares)       35,095,400   35,095,400   23,626,115  
Options granted (in shares)   750,000       12,602,228      
Options granted (in dollars per share) | $ / shares   $ 1.36       $ 0.96      
Share-based payment arrangement, expense | $   $ 2,000   $ 4,842 $ 6,162 $ 15,654 $ 22,486    
Exercise price (in dollars per share) | $ / shares   $ 1.36              
Share-based payment arrangement, option, exercise price range, shares outstanding   6,817,057              
Share-based payment arrangement, plan modification, incremental cost | $   $ 3,400              
Share-based payment arrangement, cancellation percentage   0.33              
Share-based payment arrangement, nonvested award, cost not yet recognized, amount | $   $ 1,400              
Warrant term 5 years                
Warrants outstanding (in shares)       32,467,360   32,467,360      
Private Placement                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Private placement, number of shares (in shares) 129,869,440                
Offering price (in dollars per share) | $ / shares $ 1.63125                
Exercise price of warrants (in dollars per share) | $ / shares $ 2.04                
Warrant term 5 years                
Private Placement | Officer, Director, Employee or Consultant                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Offering price (in dollars per share) | $ / shares $ 1.85125                
Restricted Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Unrecognized compensation expense | $       $ 0   $ 0      
Stock Options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Expected dividend yield           0.00%      
Award vesting period   1 year              
Award vesting rights, threshold consecutive days   30 days              
Share-based payment arrangement, expense | $   $ 400              
Weighted-average period of cost expects to recognize (in years)   2 years 2 months 12 days       2 years 8 months 12 days      
Aggregate intrinsic value, options vested in period | $           $ 0      
Weighted-average grant date fair value (in dollars per share) | $ / shares           $ 0.78 $ 5.38    
Aggregate fair value of stock options vested during period | $           $ 12,000 $ 17,100    
Unrecognized compensation expense | $       $ 18,900   $ 18,900      
Stock Options | Tranche 1                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting rights, percentage   50.00%              
Award vesting rights, threshold share price | $ / shares   $ 5.00              
Stock Options | Tranche 2                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting rights, percentage   25.00%              
Award vesting rights, threshold share price | $ / shares   $ 7.50              
Stock Options | Tranche 3                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting rights, percentage   25.00%              
Award vesting rights, threshold share price | $ / shares   $ 10.00              
Maximum | Private Placement                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of warrants (in shares) 32,467,360                
2023 Equity Incentive Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Shares reserved for future issuance (in shares)                 6,762,279
Common stock available for issuance (in shares)       4,556,779   4,556,779      
Shares reserved for issuance on granting of outstanding awards       2,205,500   2,205,500      
2019 Equity Incentive Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Shares reserved for future issuance (in shares)     5,750,000            
Common stock available for issuance (in shares)       1,225,134   1,225,134      
Term of awards (in years)     10 years            
Percentage of amount increase in outstanding shares     5.00%            
Shares outstanding awarded (in shares)       30,784,020   30,784,020   20,374,879  
2019 Employee Stock Purchase Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Shares reserved for future issuance (in shares)     700,000            
Common stock available for issuance (in shares)       4,545,812   4,545,812      
Term of awards (in years)     10 years            
Percentage of amount increase in outstanding shares     1.00%            
Number of share issued under ESPP           767,125      
Weighted-average period of cost expects to recognize (in years)           10 months 24 days      
Unrecognized compensation expense | $       $ 900   $ 900      
2019 Employee Stock Purchase Plan | Maximum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Purchase of common stock through payroll deductions, percentage     20.00%            
2017 Equity Incentive Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Shares outstanding awarded (in shares)       2,105,880   2,105,880   2,178,934  
2017 Equity Incentive Plan | Restricted Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Stock awards granted (in shares)       0   0