Stock-based Compensation - Stock Option Activity (Details) - Outstanding stock options - USD ($) $ / shares in Units, $ in Millions	6 Months Ended
Jun. 30, 2024
Number of Options
Outstanding at beginning of period (in shares)	5,700,070
Granted (in shares)	2,205,112
Exercised (in shares)	(6,099)
Cancelled (in shares)	(389,050)
Outstanding at end of period (in shares)	7,510,033
Exercisable at end of period (in shares)	4,100,266
Weighted-Average Exercise Price per Share
Weighted-Average Exercise Price - Outstanding at beginning of period (in usd per share)	$ 6.89
Weighted-Average Exercise Price - Granted (in usd per share)	4.66
Weighted-Average Exercise Price - Exercised (in usd per share)	2.05
Weighted-Average Exercise Price - Cancelled (in usd per share)	5.06
Weighted-Average Exercise Price - Outstanding at end of period (in usd per share)	6.33
Weighted-Average Exercise Price - Exercisable at end of period (in usd per share)	$ 7.25
Weighted-Average Remaining Contractual Life (in years)
Weighted Average Remaining Contractual Life - Outstanding	7 years 10 months 6 days
Weighted Average Remaining Contractual Life - Exercisable	7 years 1 month 2 days
Outstanding, Aggregate Intrinsic Value	$ 0.8
Exercisable, Aggregate Intrinsic Value	$ 0.5

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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