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Equity Incentive Plans and Stock-Based Compensation - Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 Equity and 2020 Incentive Plan - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	85.58%	81.16%	85.28%	80.97%
Expected volatility, maximum	86.46%	81.66%	86.46%	81.66%
Risk-free interest rate, minimum	4.17%	3.44%	4.04%	3.42%
Risk-free interest rate, maximum	4.60%	3.88%	4.60%	4.18%
Expected dividend	0.00%	0.00%	0.00%	0.00%
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	5 years 3 months 21 days	5 years 3 months 21 days	5 years 3 months 21 days	5 years 3 months 21 days
Underlying common stock fair value (USD per share)	$ 11.51	$ 22.33	$ 11.51	$ 21.94
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 25 days	6 years 29 days	6 years 29 days
Underlying common stock fair value (USD per share)	$ 15.36	$ 26.50	$ 17.44	$ 34.65

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The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The maximum risk-free interest rate assumption that is used in valuing an option on its own shares.

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