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Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - 2004 Plan, 2018 Plan and 2021 Plan
 3 Months Ended
Mar. 31, 2024
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Stock options outstanding, Beginning Balance, Shares | shares 7,905,032
Granted, Shares | shares 976,750
Exercised, Shares | shares (23,748)
Canceled and forfeited, Shares | shares (108,209)
Stock options outstanding, Ending Balance, Shares | shares 8,749,825
Stock options exercisable, Shares | shares 5,985,449
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance | $ / shares $ 11.24
Weighted - Average Exercise Price, Granted | $ / shares 4.55
Weighted - Average Exercise Price, Exercised | $ / shares 4.91
Weighted - Average Exercise Price, Canceled and forfeited | $ / shares 7.83
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance | $ / shares 10.55
Stock options exercisable, Weighted - Average Exercise Price, Exercisable | $ / shares $ 12.29