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Equity Incentive Plan - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Jun. 30, 2023
May 31, 2022
Jun. 30, 2021
Jun. 30, 2019
Jun. 30, 2017
Jun. 30, 2016
May 31, 2015
May 31, 2014
Jun. 30, 2011
May 31, 2010
May 31, 2009
Dec. 31, 2007
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 1997
Class Of Stock [Line Items]                              
Share-based compensation arrangements by share-based payment award, options, exercises in period, weighted average exercise price                         $ 1.32    
Common stock, shares, issued, total                         150,285,044 119,154,538  
Common stock, capital shares reserved for future issuance                         46,193,000    
Share-based compensation arrangement by share-based payment award, number of shares available for grant                         8,605,000    
Share-based compensation arrangement by share-based payment award, expiration period                         10 years    
Share-based compensation arrangement by share-based payment award, award vesting period                         4 years    
Share-based compensation arrangement by share-based payment award, options, exercisable, weighted average remaining contractual term                         5 years 7 months 6 days    
Share-based compensation arrangement by share-based payment award, options, exercises in period                         26,570 0  
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value                         $ 10,000    
Share-based compensation arrangement by share-based payment award, options, outstanding, intrinsic value                         $ 137,000 $ 0  
Common stock future issuance on exercise of outstanding options and vesting of outstanding restricted stock units granted                         25,979,791    
Total unrecognized compensation cost related to non-vested, stock-based payment awards                         $ 23,200,000    
Total unrecognized compensation cost, expect to recognize over weighted average period                         3 years    
Restricted Stock Units                              
Class Of Stock [Line Items]                              
Share-based compensation arrangement by share-based payment award, award vesting period                         4 years    
Share-based Payment Arrangement, Option                              
Class Of Stock [Line Items]                              
Share-based compensation arrangement by share-based payment award, options, forfeitures in period                         11,508,070    
Share-based compensation arrangements by share-based payment award, options, forfeitures in period, weighted average exercise price                         $ 13.1    
Share-based compensation arrangement by share-based payment award, options, expirations in period                         850,226    
Share-based compensation arrangements by share-based payment award, options, expirations in period, weighted average exercise price                         $ 7.47    
Expected life                           6 years  
Employee Stock Purchase Plan                              
Class Of Stock [Line Items]                              
Share-based compensation arrangement by share-based payment award, number of shares authorized                             10,000
Share-based compensation arrangement by share-based payment award, number of additional shares authorized 400,000 850,000 200,000 300,000 200,000 100,000 100,000 25,000 25,000   10,000 5,000 2,225,000    
Share-based compensation arrangement by share-based payment award maximum employee earnings with held to purchase common stock percent                         10.00%    
Share-based compensation arrangement by share-based payment award discount on stock price                         85.00%    
Share-based compensation arrangement by share-based payment award, shares issued in period                         717,046 406,421  
Share-based compensation arrangements by share-based payment award, options, exercises in period, weighted average exercise price                         $ 1.26 $ 3.55  
Common stock, shares, issued, total                         1,897,445    
Common stock, capital shares reserved for future issuance                         327,555    
Share-based compensation arrangement by share-based payment award, options, grants in period, weighted average grant date fair value                         $ 1.13 1.71  
Share-based compensation arrangement by share-based payment award, per share weighted-average fair value price of shares purchased                         $ 0.64 $ 1.65  
Expected life                         6 months    
Equity Incentive Plan 2007                              
Class Of Stock [Line Items]                              
Share-based compensation arrangement by share-based payment award, number of shares authorized                       150,000      
Share-based compensation arrangement by share-based payment award, number of additional shares authorized 8,490,000 2,900,000 2,000,000 7,000,000 5,000,000 3,000,000 4,300,000 1,750,000 4,500,000 100,000     39,190,000    
Share-based compensation arrangement by share-based payment award, number of shares available for grant                         8,605,026