Stock-Based Compensation (Details)	1 Months Ended		3 Months Ended
	Feb. 29, 2016 shares	Dec. 31, 2015	Mar. 31, 2024 item shares	Jan. 30, 2023 shares	May 30, 2019 shares
2015 Equity Incentive Plan
Stock-based compensation
Expiration period		10 years
Automatic annual increase in shares authorized, percent of common stock outstanding			3.50%
Shares available for grant			46,186,700
Inducement Plan
Stock-based compensation
Total shares that may be issued					1,800,000
Shares available for grant			282,159
Commercial Equity Plan
Stock-based compensation
Total shares that may be issued				10,000,000
Shares available for grant			7,675,000
2016 Employee Stock Purchase Plan
Stock-based compensation
Total shares that may be issued	800,000		22,729,158
Automatic annual increase in shares authorized, percent of common stock outstanding	1.00%
Stock issued			199,066
Payroll deductions for ESPP participants (as a percent)			15.00%
Percentage on share price issued			85.00%
Offering period duration			6 months
Purchase periods | item			2
1997 Stock Option Plan
Stock-based compensation
Total shares that may be issued			1,025,844