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	9 Months Ended
	Sep. 30, 2023 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options outstanding, Beginning Balance, Shares | shares	7,310,611
Granted, Shares | shares	1,562,500
Exercised, Shares | shares	(53,060)
Canceled and forfeited, Shares | shares	(899,490)
Stock options outstanding, Ending Balance, Shares | shares	7,920,561
Stock options exercisable, Shares | shares	5,484,791
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance | $ / shares	$ 12.68
Weighted - Average Exercise Price, Granted | $ / shares	5.43
Weighted - Average Exercise Price, Exercised | $ / shares	5.92
Weighted - Average Exercise Price, Canceled and forfeited | $ / shares	12.69
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance | $ / shares	11.30
Stock options exercisable, Weighted - Average Exercise Price, Exercisable | $ / shares	$ 12.56