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Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Jul. 24, 2023 | May 05, 2023 | Jul. 15, 2022 | Feb. 06, 2019 | Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022 | Nov. 30, 2023 | Dec. 31, 2021 | May 21, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Common stock were subject to outstanding options (in shares) |  |  |  |  | 34,416,337 | 23,626,115 | 17,487,165 |  | 9,434,660 |
Options granted (in shares) |  | 750,000 |  |  | 13,006,228 | 17,159,617 | 9,271,272 |  |  |
Options granted (in dollars per share) |  | $ 1.36 |  |  | $ 0.96 | $ 1.16 | $ 6.75 |  |  |
Share-based payment arrangement, expense |  | $ 2,000 |  |  | $ 20,619 | $ 28,518 | $ 42,553 |  |  |
Exercise price (in dollars per share) |  | $ 1.36 |  |  |  |  |  |  |  |
Share-based payment arrangement, option, exercise price range, shares outstanding (in shares) |  | 6,817,057 |  |  |  |  |  |  |  |
Share-based payment arrangement, option, required cancellation percentage |  | 33.00% |  |  |  |  |  |  |  |
Share-based payment arrangement, plan modification, incremental cost |  | $ 3,400 |  |  |  |  |  |  |  |
Share-based payment arrangement, nonvested award, cost not yet recognized, amount |  | $ 1,400 |  |  |  |  |  |  |  |
Offering price (in dollars per share) |  |  |  |  |  |  |  |  |  | $ 13.25
Warrants and rights outstanding, term | 5 years |  |  |  |  |  |  |  |  |
Warrants outstanding (in shares) |  |  |  |  | 32,467,360 |  |  |  |  |
Private Placement |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Shares issued in transition (in shares) | 129,869,440 |  | 16,649,365 |  |  |  |  |  |  |
Offering price (in dollars per share) | $ 1.63125 |  | $ 7.21 |  |  |  |  |  |  |
Class of warrant or right, exercise price of warrants or rights | $ 2.04 |  |  |  |  |  |  |  |  |
Warrants and rights outstanding, 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) | $ 1.85125 |  |  |  |  |  |  |  |  |
Non-vested shares under restricted stock grants |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Unrecognized compensation related to unvested restricted stock awards |  |  |  |  | $ 0 |  |  |  |  |
Shares issuable upon exercise of stock options |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Dividend yield |  |  |  |  | 0.00% | 0.00% | 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 7 months 6 days |  |  |  |  |
Weighted-average grant date fair value (in dollars per share) |  |  |  |  | $ 0.78 | $ 3.88 | $ 4.77 |  |  |
Aggregate fair value of stock options vested |  |  |  |  | $ 15,700 | $ 22,700 | $ 20,700 |  |  |
Aggregate intrinsic value, options vested in period |  |  |  |  | 0 | $ 0 | $ 1,500 |  |  |
Unrecognized compensation related to unvested stock option |  |  |  |  | $ 14,000 |  |  |  |  |
Shares issuable upon exercise of 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 (in dollars per share) |  | $ 5.00 |  |  |  |  |  |  |  |
Shares issuable upon exercise of 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 (in dollars per share) |  | $ 7.50 |  |  |  |  |  |  |  |
Shares issuable upon exercise of 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 (in dollars per share) |  | $ 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) |  |  |  |  | 4,152,779 |  |  |  |  |
Shares reserved for issuance on granting of outstanding awards (in shares) |  |  |  |  | 2,609,500 |  |  |  |  |
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) |  |  |  |  | 2,308,197 |  |  |  |  |
Term of awards |  |  |  | 10 years |  |  |  |  |  |
Percentage of amount increase in outstanding shares |  |  |  | 5.00% |  |  |  |  |  |
Common stock were subject to outstanding options (in shares) |  |  |  |  | 29,747,623 |  |  |  |  |
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 |  |  |  |  |
Term of awards |  |  |  | 10 years |  |  |  |  |  |
Percentage of amount increase in outstanding shares |  |  |  | 1.00% |  |  |  |  |  |
Number of share issued under ESPP (in shares) |  |  |  |  | 767,125 | 336,795 |  |  |  |
Weighted-average period of cost expects to recognize (in years) |  |  |  |  | 9 months 18 days |  |  |  |  |
Unrecognized compensation related to unvested stock option |  |  |  |  | $ 800 |  |  |  |  |
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] |  |  |  |  |  |  |  |  |  |
Common stock were subject to outstanding options (in shares) |  |  |  |  | 2,059,214 |  |  |  |  |
2017 Equity Incentive Plan | Non-vested shares under restricted stock grants |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Stock awards granted (in shares) |  |  |  |  | 0 |  |  |  |  |

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