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Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - 2004 Plan, 2018 Plan and 2021 Plan - $ / shares	9 Months Ended
	Sep. 30, 2024
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options outstanding, Beginning Balance, Shares	7,905,032
Granted, Shares	1,545,209
Exercised, Shares	(63,748)
Canceled and forfeited, Shares	(481,931)
Stock options outstanding, Ending Balance, Shares	8,904,562
Stock options exercisable, Shares	6,349,762
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance	$ 11.24
Weighted - Average Exercise Price, Granted	4.18
Weighted - Average Exercise Price, Exercised	4.24
Weighted - Average Exercise Price, Canceled and forfeited	10.91
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance	10.08
Stock options exercisable, Weighted - Average Exercise Price, Exercisable	$ 11.85

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