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Stockholders' Equity - Service-Based Stock Options (Details) - Service Based Stock Options - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Stock-based compensation      
Vesting period 3 years    
Contractual term 10 years    
Number of Shares      
Outstanding at the beginning of the period (in shares) 12,560,577    
Granted (in shares) 3,216,932    
Exercised (in shares) (35,911)    
Forfeited or expired (in shares) (825,986)    
Outstanding at the end of the period (in shares) 14,915,612 12,560,577  
Exercisable at the end of the period (in shares) 9,879,896    
Vested and expected to vest at the end of the period (in shares) 14,915,612    
Weighted Average Exercise Price      
Outstanding at the beginning of the period (in dollars per share) $ 5.68    
Granted (in dollars per share) 2.83    
Exercised (in dollars per share) 1.71    
Forfeited or expired (in dollars per share) 7.4    
Outstanding at the end of the period (in dollars per share) 4.98 $ 5.68  
Exercisable at the end of the period (in dollars per share) 5.69    
Vested and expected to vest at the end of the period (in dollars per share) $ 4.98    
Additional option disclosures      
Outstanding at the end of the period, weighted average remaining contractual term 6 years 6 months 21 days    
Exercisable at the end of the period, weighted average remaining contractual term 5 years 5 months 1 day    
Vested and expected to vest at the end of the period, weighted average remaining contractual term 6 years 6 months 21 days    
Outstanding at the end of the period, aggregate intrinsic value $ 1,215    
Exercisable at the end of the period, aggregate intrinsic value 1,213    
Vested and expected to vest at the end of the period, aggregate intrinsic value 1,215    
Total unrecognized compensation cost related to non-vested shares $ 8,100    
Unrecognized compensation cost, weighted-average period 1 year 7 months 6 days    
Total fair value of shares vested $ 11,700    
Weighted-average assumption used for grants      
Dividend yield 0.00% 0.00% 0.00%
Expected volatility, minimum 76.50% 75.20% 73.70%
Expected volatility, maximum 76.90% 76.60% 76.90%
Risk-free interest rate, minimum 4.18% 3.68% 1.52%
Risk-free interest rate, maximum 4.39% 4.73% 4.34%
Stock-based compensation      
Weighted-average grant date fair values of options granted (in dollars per share) $ 1.98 $ 3.3 $ 4.4
Exercised during the period, aggregate intrinsic value $ 100 $ 200 $ 1,300
Stock-based compensation expense $ 8,700 $ 11,700 $ 11,900
Minimum      
Weighted-average assumption used for grants      
Expected life 6 years 1 month 6 days 5 years 10 months 24 days 5 years 7 months 6 days
Maximum      
Weighted-average assumption used for grants      
Expected life 6 years 2 months 12 days 6 years 2 months 12 days 5 years 10 months 24 days
Vesting over the first year      
Stock-based compensation      
Vesting percentage 34.00%    
Vesting over the second year      
Stock-based compensation      
Vesting percentage 33.00%    
Vesting over the third year      
Stock-based compensation      
Vesting percentage 33.00%