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Description of Business - Additional Information (Details) - USD ($) $ in Millions | 1 Months Ended | 12 Months Ended
--- | --- | ---
Jan. 31, 2023 | Dec. 31, 2023
Description Of Business [Line Items] |  |
Entity incorporation, date of Incorporation |  | Mar. 31, 2011
Entity reincorporation, date of reincorporation |  | Oct. 27, 2015
Net cash proceeds from issuance of convertible preferred stock, common stock warrants, and convertible notes |  | $ 407.4
Cash, cash equivalents, and investments |  | $ 147.4
At The Market Common Stock Offering |  |
Description Of Business [Line Items] |  |
Number of shares issued and sold | 0 |
At The Market Common Stock Offering | Maximum |  |
Description Of Business [Line Items] |  |
Aggregate proceeds from issuance of common stock | $ 75.0 |

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