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Stock-based Compensation - Narrative (Details)	1 Months Ended		3 Months Ended		12 Months Ended
	Jun. 30, 2023 USD ($) shares	Apr. 30, 2023 shares	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2023 USD ($) installment $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Jan. 31, 2023 shares	Jun. 30, 2019 shares	Apr. 30, 2019 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based payment arrangement, expense | $					$ 1,000,000
Granted (in shares) | shares					2,046,000	2,000,000	286,000
Aggregate intrinsic value of options exercised | $					$ 700,000	$ 3,100,000	$ 14,900,000
Weighted average grant date fair value (in dollars per share) | $ / shares					$ 3.31	$ 4.99	$ 12.80
Unrecognized compensation cost, options | $					$ 8,200,000
Nonemployee Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares) | shares					50,000	0	9,000
Aggregate intrinsic value of options exercised | $					$ 100,000	$ 0	$ 100,000
Weighted average grant date fair value (in dollars per share) | $ / shares					$ 1.05	$ 0	$ 11.29
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares) | shares	2,000,000
Share-based compensation arrangement by share-based payment award, consecutive offering period	24 months
Option price as a percent of common stock	85.00%
Share-based compensation arrangement by share-based payment award, maximum employee subscription amount | $	$ 25,000
Share-based payment arrangement, expense | $					$ 25,000
Incentive Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Option price as a percent of common stock					100.00%
Non-Statutory Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Option price as a percent of common stock					85.00%
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percent of voting interests					10.00%
Purchase price of common stock when voting percent is above minimum threshold					110.00%
Expiration period					10 years
Vesting period of units granted					4 years
Expiration period of options upon employee's termination of service					3 months
Weighted-average remaining amortization period					2 years 10 months 24 days
Stock options | Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of units granted					1 year
Award vesting rights percentage					25.00%
Stock options | Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of units granted					3 years
Award vesting rights percentage					75.00%
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares) | shares					1,049,000	518,000	163,000
Weighted-average remaining amortization period					2 years
Equity instruments other than options, aggregate intrinsic value, vested | $					$ 1,100,000	$ 1,800,000	$ 1,800,000
Unrecognized compensation cost, awards other than options | $					$ 4,100,000
RSUs | Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of units granted					3 years
Award vesting rights percentage					33.00%
RSUs | Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of units granted					4 years
Award vesting rights percentage					25.00%
PBOs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, number of installments | installment					2
Threshold level multiplier					0
PBOs | Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting rights percentage					50.00%
PBOs | Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting rights percentage					50.00%
Performance Share Units (PSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, performance goals achieved, superior level, shares eligible to vest, multiplier					200.00%
Granted (in shares) | shares					0
PBOs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares) | shares					0	733,000	433,000
Aggregate intrinsic value of options exercised | $					$ 0	$ 0	$ 300,000
Weighted-average remaining amortization period					2 months 12 days
Unrecognized compensation cost, awards other than options | $					$ 15,900
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares) | shares					277,000	159,000	46,000
Weighted-average remaining amortization period					8 months 12 days
Equity instruments other than options, aggregate intrinsic value, vested | $					$ 400,000	$ 500,000	$ 1,300,000
Unrecognized compensation cost, awards other than options | $					$ 600,000
PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares) | shares						686,000	82,000
Weighted-average remaining amortization period					2 months 12 days
Equity instruments other than options, aggregate intrinsic value, vested | $					$ 1,600,000	$ 2,100,000	$ 1,300,000
Unrecognized compensation cost, awards other than options | $					$ 200,000
2022 Inducement Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares) | shares								2,000,000
2019 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares) | shares									8,100,000
Total shares remaining available for issuance (in shares) | shares					9,100,000					7,897,144
2019 Amended Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares) | shares		15,897,144
Share-based compensation arrangement by share-based payment ward, number of additional shares authorized (in shares) | shares		8,000,000
Shares reserved for future issuance (in shares) | shares		22,000,000
2022 PSU | PBOs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Estimated performance goal achievement rate			85.00%
2022 PBO | PBOs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Estimated performance goal achievement rate			42.50%
2022 PSU And 2022 PBO | PBOs | Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting rights percentage			50.00%
2022 PSU And 2022 PBO | PBOs | Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting rights percentage			50.00%
2021 PSU | PBOs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Estimated performance goal achievement rate				146.00%
2021 PBO | PBOs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Estimated performance goal achievement rate				73.00%
2021 PSU And 2021 PBO | PBOs | Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting rights percentage				50.00%
2021 PSU And 2021 PBO | PBOs | Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting rights percentage				50.00%

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