Stockholders' Equity - Summary of Stock Option Activity and Weighted Average Exercise Prices (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended	9 Months Ended
	Mar. 31, 2023	Sep. 30, 2023	Dec. 31, 2022
Options
Beginning balance (in shares)	4,459	4,459
Granted (in shares)		18
Exercised (in shares)		(48)
Cancelled or expired (in shares)		(1,174)
Ending balance (in shares)		3,255
Options vested and expected to vest (in shares)		501
Options exercisable at end of period (in shares)		2,578
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 24.25	$ 24.25
Granted (in dollars per share)		11.37
Exercised (in dollars per share)		3.18
Cancelled or expired (in dollars per share)		28.15
Ending balance (in dollars per share)		22.67
Options vested and expected to vest (in dollars per share)		27.68
Options exercisable at end of period (in dollars per share)		$ 21.54
Weighted Average Remaining Contractual Term
Weighted average remaining contract term, Options outstanding	6 years 29 days	5 years 4 months 28 days
Weighted average remaining contract term, Options vested and expected to vest		8 years 1 month 20 days
Weighted average remaining contract term, Options exercisable		4 years 7 months 9 days
Aggregate Intrinsic Value
Aggregate intrinsic value, Options outstanding		$ 92	$ 1,327
Aggregate intrinsic value, Options vested and expected to vest		40
Aggregate intrinsic value, Options exercisable		$ 51