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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2024	Dec. 31, 2023
Stockholders Equity [Line Items]
Reserved common stock	17,763,708	15,970,351
Common Stock Options Issued and Outstanding
Stockholders Equity [Line Items]
Reserved common stock	8,904,562	7,905,032
Common Stock Awards Issued and Outstanding
Stockholders Equity [Line Items]
Reserved common stock	6,022,734	5,244,873
Remaining Shares Reserved for Issuance under 2018 Equity Incentive Plan and 2021 Equity Inducement Plan
Stockholders Equity [Line Items]
Reserved common stock	1,495,378	1,777,919
Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan
Stockholders Equity [Line Items]
Reserved common stock	1,213,418	914,911
Warrants to Purchase Common Stock
Stockholders Equity [Line Items]
Reserved common stock	127,616	127,616

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Stockholders equity.

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Aggregate number of common shares reserved for future issuance.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 210
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02(29))
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147480566/210-10-S99-1

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