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Equity Incentive Plans - Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2025 | Jun. 30, 2024 | Jun. 30, 2025 | Jun. 30, 2024 | Dec. 31, 2024 | Jul. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Percentage of number of shares of capital stock outstanding on last day of preceding year |  |  | 4.00% |  |  |
Stock option grants description |  |  | Awards granted under the 2020 Plan expire no later than ten years from the date of grant. For Incentive Stock Options, or ISOs, and Nonstatutory Stock Options, or NSOs, the option price shall not be less than 100% of the estimated fair value on the date of grant. Options granted typically vest over a four-year period but may be granted with different vesting terms. |  |  |
Option expiry period |  |  | 10 years |  |  |
Vesting Period |  |  | 4 years |  |  |
Options available for future grant | 656,488 |  | 656,488 |  |  |
Intrinsic value of options exercised | $ 100,000 | $ 100,000 | $ 100,000 | $ 400,000 |  |
Weighted- average exercise price per share, Stock options granted |  |  | $ 2.55 |  |  |
Unrecognized stock-based compensation cost expected period for recognition |  |  | 3 years |  |  |
Common stock for future issuance | 98,734,338 |  | 98,734,338 |  | 93,715,852 |
Total stock-based compensation expense | $ 4,205,000 | $ 4,942,000 | $ 9,283,000 | 9,602,000 |  |
Employees [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Weighted- average exercise price per share, Stock options granted | $ 1.97 | $ 4.17 |  |  |  |
2022 Employment Inducement Award Plan [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Options available for future grant | 2,746,483 |  | 2,746,483 |  |  | 7,850,000
Incentive Stock Options, or ISOs, and Nonstatutory Stock Options, or NSOs [Member] | Minimum [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Purchase of Common stock at end of each offering period at price equal to percentage of fair market value of shares |  |  | 100.00% |  |  |
Employee Stock Option [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized stock-based compensation cost | $ 34,600,000 |  | $ 34,600,000 |  |  |
Restricted Stock Units [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized stock-based compensation cost | $ 3,900,000 |  | $ 3,900,000 |  |  |
Unrecognized stock-based compensation cost expected period for recognition |  |  | 2 years 2 months 12 days |  |  |
Employee Stock Purchase Plan [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Purchase of Common stock at end of each offering period at price equal to percentage of fair market value of shares |  |  | 85.00% |  |  |
Share purchases funded through payroll deductions minimum percentage of employee's eligible compensation | 1.00% |  | 1.00% |  |  |
Share purchases funded through payroll deductions maximum percentage of employee's eligible compensation | 15.00% |  | 15.00% |  |  |
Common stock for future issuance | 2,959,996 |  | 2,959,996 |  | 1,983,924 |
Percentage of shares of common stock outstanding on last day of immediately preceding fiscal year |  |  | 1.00% |  |  |
Total stock-based compensation expense | $ 40,000 | $ 41,000 | $ 0.1 | $ 0.1 |  |

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