Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Schedule of Employee Stock Options Valuation (Details)

v3.24.1
Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Schedule of Employee Stock Options Valuation (Details)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Line Items]      
Expected volatility, Minimum 80.70% 81.80% 80.90%
Expected volatility, Maximum 84.10% 83.50% 84.90%
Risk-free interest rate, Minimum 3.60% 1.70% 0.60%
Risk-free interest rate, Maximum 4.70% 4.20% 1.30%
Expected dividend 0.00%    
Minimum      
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Line Items]      
Expected term (in years) 5 years 3 months 18 days 5 years 3 months 18 days 5 years 3 months 18 days
Maximum      
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Line Items]      
Expected term (in years) 6 years 1 month 6 days 6 years 1 month 6 days 6 years 1 month 6 days