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Summary of Significant Accounting Policies - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022
Accounting Policies [Line Items] |  |
Antidilutive securities excluded from computation of diluted net loss per share | 12,075 | 11,176
Options Outstanding [Member] |  |
Accounting Policies [Line Items] |  |
Antidilutive securities excluded from computation of diluted net loss per share | 4,752 | 3,811
Unvested restricted stock [Member] |  |
Accounting Policies [Line Items] |  |
Antidilutive securities excluded from computation of diluted net loss per share | 1,345 |
Restricted Stock Award [Member] |  |
Accounting Policies [Line Items] |  |
Antidilutive securities excluded from computation of diluted net loss per share | 69 | 117
Unvested common stock subject to repurchase [Member] |  |
Accounting Policies [Line Items] |  |
Antidilutive securities excluded from computation of diluted net loss per share | 2 | 29
Warrants To Purchase Common Stock [Member] |  |
Accounting Policies [Line Items] |  |
Antidilutive securities excluded from computation of diluted net loss per share | 5,907 | 7,219

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- Definition Accounting policies. + References No definition available. + Details
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- Definition Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 260 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482662/260-10-50-1 + Details
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