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Equity Incentive Plans - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
May 05, 2023
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares Subject to Options Outstanding, Shares          
Outstanding as of beginning balance (in shares)   23,626,115 17,487,165 9,434,660  
Options granted (in shares) 750,000 13,006,228 17,159,617 9,271,272  
Option exercised (in shares)   0 0 (270,707)  
Options forfeited/cancelled (in shares)   (2,216,006) (11,020,667) (948,060)  
Outstanding as of ending balance (in shares)   34,416,337 23,626,115 17,487,165 9,434,660
Options vested and expected to vest as of ending balance (in shares)   34,416,337      
Options exercisable as of ending balance (in shares)   14,126,062      
Shares Subject to Options Outstanding, Weighted Average Exercise Price          
Outstanding as of beginning balance (in dollars per share)   $ 2.52 $ 9.24 $ 12.24  
Options granted (in dollars per share) $ 1.36 0.96 1.16 6.75  
Option exercised (in dollars per share)   0 0 6.41  
Options forfeited/cancelled (in dollars per share)   2.25 11.07 15.69  
Outstanding as of ending balance (in dollars per share)   1.95 $ 2.52 $ 9.24 $ 12.24
Options vested and expected to vest as of ending balance (in dollars per share)   1.95      
Options exercisable as of ending balance (in dollars per share)   $ 3.20      
Weighted-Average Remaining Contractual Life (in years)   7 years 6 months 7 years 10 months 24 days 8 years 1 month 6 days 7 years 4 months 24 days
Weighted-Average Remaining Contractual Life (in years), Options vested and expected to vest as of end of period   7 years 6 months      
Weighted-Average Remaining Contractual Life (in years), Options exercisable as of end of period   6 years 1 month 6 days      
Aggregate Intrinsic Value   $ 598 $ 369 $ 47 $ 15,822
Aggregate Intrinsic Value, Options vested and expected to vest as of end of period   598      
Aggregate Intrinsic Value, Options exercisable as of end of period   $ 100