Income Taxes - Reconciliation of Effective Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax benefit using U.S. federal statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	4.10%	5.00%	4.70%
Nondeductible expenses	(0.70%)	(0.30%)	(0.10%)
Tax law change	0.00%	0.00%	0.20%
Research credits	0.20%	0.10%	1.00%
Sale of Design Manager	0.00%	(2.20%)	0.00%
Stock-based compensation	(3.10%)	(0.30%)	0.40%
Change in the valuation allowance	(21.20%)	(23.50%)	(27.20%)
Other	(0.40%)	0.00%	(0.10%)
Provision for income taxes	(0.10%)	(0.20%)	(0.10%)