Equity Incentive Awards - Summary of Weighted-Average Stock Options Assumptions (Details) - Options	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected Volatility	110.00%	109.00%	104.00%
Risk-free Interest Rate	3.90%	2.80%	0.70%
Expected Term	4 years	4 years	4 years
Dividend Rate	0.00%	0.00%	0.00%
Officers and non-employee directors
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected Volatility	98.00%	91.00%	90.00%
Risk-free Interest Rate	4.00%	1.90%	1.00%
Expected Term	6 years	7 years	6 years
Dividend Rate	0.00%	0.00%	0.00%