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Convertible Preferred Stock and Stockholders' Equity - Reconciliation of Consolidated Stockholders' Equity Accounts (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2025
Jun. 30, 2025
Mar. 31, 2025
Sep. 30, 2024
Jun. 30, 2024
Mar. 31, 2024
Sep. 30, 2025
Sep. 30, 2024
Class Of Stock [Line Items]                
Beginning Balance $ 261,364 $ 288,409 $ 318,726 $ 396,982 $ 426,115 $ 368,417 $ 318,726 $ 368,417
Exercise of stock options, net of issuance costs   (832)     (4) (299)    
Issuance of common stock upon vesting of restricted stock units 681,630 50,325            
Stock-based compensation 4,861 7,154 7,381 11,765 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 91 (129) (77) 1,257 (228) (209)    
Net Income (Loss) (32,250) (34,070) (37,621) (47,678) (38,427) (48,004) (103,941) (134,109)
Ending Balance 234,066 261,364 288,409 362,326 396,982 426,115 234,066 362,326
Preferred Stock | Convertible Preferred Stock                
Class Of Stock [Line Items]                
Beginning Balance $ 3 $ 3 $ 3 $ 3 $ 3 $ 3 $ 3 $ 3
Beginning Balance (in shares) 2,755,086 2,755,086 2,755,086 2,761,108 2,761,108 2,761,108 2,755,086 2,761,108
Ending Balance $ 3 $ 3 $ 3 $ 3 $ 3 $ 3 $ 3 $ 3
Ending Balance (in shares) 2,755,086 2,755,086 2,755,086 2,761,108 2,761,108 2,761,108 2,755,086 2,761,108
Common Stock                
Class Of Stock [Line Items]                
Beginning Balance $ 115 $ 115 $ 114 $ 114 $ 114 $ 99 $ 114 $ 99
Beginning Balance (in shares) 114,655,067 114,603,910 113,928,279 113,849,557 113,798,942 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) 681,630 50,325 675,631 35,327 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 $ 115 $ 114 $ 114 $ 114 $ 115 $ 114
Ending Balance (in shares) 115,336,697 114,655,067 114,603,910 113,884,884 113,849,557 113,798,942 115,336,697 113,884,884
Additional Paid In Capital                
Class Of Stock [Line Items]                
Beginning Balance $ 1,730,869 $ 1,723,715 $ 1,716,335 $ 1,695,450 $ 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 4,861 7,154 7,381 11,765 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 1,735,730 1,730,869 1,723,715 1,707,215 1,695,450 1,685,928 1,735,730 1,707,215
Accumulated Other Comprehensive Gain (Loss)                
Class Of Stock [Line Items]                
Beginning Balance 62 191 268 (422) (194) 15 268 15
Unrealized loss on investments 91 (129) (77) 1,257 (228) (209)    
Ending Balance 153 62 191 835 (422) (194) 153 835
Accumulated Deficit                
Class Of Stock [Line Items]                
Beginning Balance (1,469,685) (1,435,615) (1,397,994) (1,298,163) (1,259,736) (1,211,732) (1,397,994) (1,211,732)
Net Income (Loss) (32,250) (34,070) (37,621) (47,678) (38,427) (48,004)    
Ending Balance $ (1,501,935) $ (1,469,685) $ (1,435,615) $ (1,345,841) $ (1,298,163) $ (1,259,736) $ (1,501,935) $ (1,345,841)