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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
2011 Plan, 2019 Plan and Inducement Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Outstanding Options, Number of Shares, Beginning Balance 5,451,132 5,002,419 4,948,306  
Outstanding Options, Number of Shares, granted 2,638,500 1,429,295 1,026,276  
Outstanding Options, Number of Shares, exercised (8) (488,187) (862,056)  
Outstanding Options, Number of Shares, forfeited or expired (2,284,038) (492,395) (110,107)  
Outstanding Options, Number of Shares, Ending Balance 5,805,586 5,451,132 5,002,419 4,948,306
Options vested and exercisable, Number of Shares 3,103,913      
Outstanding Options, Weighted-Average Exercise Price, Beginning Balance $ 9.9 $ 10.66 $ 7.10  
Outstanding Options, Weighted-Average Exercise Price, granted 2.61 4.80 21.26  
Outstanding Options, Weighted-Average Exercise Price, exercised 2.44 2.07 2.43  
Outstanding Options, Weighted-Average Exercise Price, forfeited or expired 7.84 10.57 13.88  
Outstanding Options, Weighted-Average Exercise Price, Ending Balance 7.4 $ 9.9 $ 10.66 $ 7.10
Options vested and exercisable, Weighted-Average Exercise Price $ 9.69      
Outstanding Options, Weighted-Average Remaining Contractual Term (in years) 6 years 10 months 24 days 5 years 3 months 21 days 6 years 10 months 20 days 6 years 8 months 15 days
Options vested and exercisable, Weighted-Average Remaining Contractual Term (in years) 5 years 6 months 25 days      
Outstanding Options, Aggregate Intrinsic Value $ 64 $ 7 $ 28,308 $ 146,044
Options vested and exercisable, Aggregate Intrinsic Value $ 1      
2019 Plan | Performance-Based Stock Option        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Outstanding Options, Number of Shares, Beginning Balance 421,000 421,000 421,000  
Outstanding Options, Number of Shares, forfeited or expired (421,000)      
Outstanding Options, Number of Shares, Ending Balance   421,000 421,000 421,000
Outstanding Options, Weighted-Average Exercise Price, Beginning Balance $ 5.1 $ 5.1 $ 5.1  
Outstanding Options, Weighted-Average Exercise Price, forfeited or expired $ 5.1      
Outstanding Options, Weighted-Average Exercise Price, Ending Balance   $ 5.1 $ 5.1 $ 5.1
Outstanding Options, Weighted-Average Remaining Contractual Term (in years)   1 year 8 years 2 months 15 days 9 years 2 months 15 days
Outstanding Options, Aggregate Intrinsic Value     $ 3,861 $ 13,266