Common Stock - Shares Reserved for Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	30,154,209	16,011,495
Issuances under stock incentive plan
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	6,625,812	8,180,840
Issuances upon exercise of common stock warrants
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	137,658	137,658
Issuances upon vesting of restricted stock units
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	6,182,543	6,779,892
Issuances of convertible notes
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	325,981	516,758
Shares reserved for shares available to be granted but not granted yet
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	16,882,215	396,347