Employee Benefit Plans - Schedule of ESPP Valuation Assumption (Details) - ESPP	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 months	5 months 26 days	5 months 1 day
Expected volatility	82.30%	78.40%	147.40%
Weighted Average
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average risk-free interest rate	5.40%	467.00%	0.10%