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Convertible Preferred Stock and Stockholders' Equity - Reconciliation of Consolidated Stockholders' Equity Accounts (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2025
Mar. 31, 2025
Jun. 30, 2024
Mar. 31, 2024
Jun. 30, 2025
Jun. 30, 2024
Class Of Stock [Line Items]            
Beginning Balance $ 288,409 $ 318,726 $ 426,115 $ 368,417 $ 318,726 $ 368,417
Exercise of stock options, net of issuance costs 832     299    
Issuance of common stock upon vesting of restricted stock units 50,325          
Stock-based compensation 7,154 7,381 9,630 10,981    
Public offering of common stock, net of issuance costs     (104) 74,635    
Private placement of pre-funded warrants, net of issuance costs       19,996    
Unrealized loss on investments (129) (77) (228) (209)    
Net Income (Loss) (34,070) (37,621) (38,427) (48,004) (71,691) (86,431)
Ending Balance 261,364 288,409 396,982 426,115 261,364 396,982
Preferred Stock | Convertible Preferred Stock            
Class Of Stock [Line Items]            
Beginning Balance $ 3 $ 3 $ 3 $ 3 $ 3 $ 3
Beginning Balance (in shares) 2,755,086 2,755,086 2,761,108 2,761,108 2,755,086 2,761,108
Ending Balance $ 3 $ 3 $ 3 $ 3 $ 3 $ 3
Ending Balance (in shares) 2,755,086 2,755,086 2,761,108 2,761,108 2,755,086 2,761,108
Common Stock            
Class Of Stock [Line Items]            
Beginning Balance $ 115 $ 114 $ 114 $ 99 $ 114 $ 99
Beginning Balance (in shares) 114,603,910 113,928,279 113,798,942 98,627,076 113,928,279 98,627,076
Exercise of stock options, net of issuance costs (in shares) 832     45,438    
Issuance of common stock upon vesting of restricted stock units   $ 1        
Issuance of common stock upon vesting of restricted stock units (in shares) 50,325 675,631 50,615 580,974    
Public offering of common stock, net of issuance costs       $ 15    
Public offering of common stock, net of issuance costs (in shares)       14,545,454    
Ending Balance $ 115 $ 115 $ 114 $ 114 $ 115 $ 114
Ending Balance (in shares) 114,655,067 114,603,910 113,849,557 113,798,942 114,655,067 113,849,557
Additional Paid In Capital            
Class Of Stock [Line Items]            
Beginning Balance $ 1,723,715 $ 1,716,335 $ 1,685,928 $ 1,580,032 $ 1,716,335 $ 1,580,032
Exercise of stock options, net of issuance costs     (4) 299    
Issuance of common stock upon vesting of restricted stock units   (1)        
Stock-based compensation 7,154 7,381 9,630 10,981    
Public offering of common stock, net of issuance costs     (104) 74,620    
Private placement of pre-funded warrants, net of issuance costs       19,996    
Ending Balance 1,730,869 1,723,715 1,695,450 1,685,928 1,730,869 1,695,450
Accumulated Other Comprehensive Gain (Loss)            
Class Of Stock [Line Items]            
Beginning Balance 191 268 (194) 15 268 15
Unrealized loss on investments (129) (77) (228) (209)    
Ending Balance 62 191 (422) (194) 62 (422)
Accumulated Deficit            
Class Of Stock [Line Items]            
Beginning Balance (1,435,615) (1,397,994) (1,259,736) (1,211,732) (1,397,994) (1,211,732)
Net Income (Loss) (34,070) (37,621) (38,427) (48,004)    
Ending Balance $ (1,469,685) $ (1,435,615) $ (1,298,163) $ (1,259,736) $ (1,469,685) $ (1,298,163)