v3.24.1.u1
Equity Incentive Plans and Stock-Based Compensation - Equity Incentive Plan - Narrative (Details) - shares
 3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares reserved for future issuance (in shares) 15,742,708 12,544,982
2020 Stock Options and Incentive Plan and 2022 Inducement Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Exercise price as a percentage of estimated grant date fair value of shares 10.00%  
Expiration period from date of grant 5 years  
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares reserved for future issuance (in shares) 4,562,694 2,882,239
Shares of common stock available for future issuance under the 2022 Inducement Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares reserved for future issuance (in shares) 700,000 700,000
Maximum | 2020 Stock Options and Incentive Plan and 2022 Inducement Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Period in which options may be granted 10 years  
Exercise price as a percentage of estimated grant date fair value of shares 110.00%  
Maximum | Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Percent of outstanding shares, shares added per year to plan 5.00%