Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	18,191,121	18,151,247
Stock Options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,479,059	1,714,298
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	2,569,764	2,294,651
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	14,142,298	14,142,298