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Equity Incentive Plans - Summary of Stock Option Plan Activity (Details) - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of shares outstanding | 20,749,349 |
Number of shares granted | 16,210,379 |
Number of shares exercised | (26,570) | 0
Number of shares cancelled | (12,358,296) |
Number of shares outstanding | 24,574,862 | 20,749,349
Number of shares outstanding, weighted average exercise price | $ 14.61 |
Number of shares granted, weighted average exercise price | 1.69 |
Number of shares exercised, weighted average exercise price | 1.32 |
Number of shares cancelled, weighted average exercise price | 12.72 |
Number of shares outstanding, weighted average exercise price | $ 7.06 | $ 14.61
Restricted Stock Units |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of shares outstanding | 3,167,397 |
Number of shares granted | 1,757,506 |
Number of shares released | (1,627,619) |
Number of shares forfeited | (1,892,355) |
Number of shares outstanding | 1,404,929 | 3,167,397
Number of shares outstanding, weighted average grant date fair value | $ 6.46 |
Number of shares granted, weighted average grant date fair value | 2.39 |
Number of shares released, weighted average grant date fair value | 6.34 |
Number of shares forfeited, weighted average grant date fair value | 4.27 |
Number of shares outstanding, weighted average grant date fair value | $ 4.43 | $ 6.46

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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