Equity Incentive Plans and Stock-Based Compensation Expense - Schedule of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands |
3 Months Ended | 9 Months Ended | ||
|---|---|---|---|---|
Sep. 30, 2026 |
Sep. 30, 2025 |
Sep. 30, 2026 |
Sep. 30, 2025 |
|
| Stock-Based Compensation Expense [Line Items] | ||||
| Total stock-based compensation expense | $ 3,747 | $ 3,992 | $ 10,743 | $ 14,175 |
| Location, Statement of Income, Balance [Axis]: us-gaap:GeneralAndAdministrativeExpense | ||||
| Stock-Based Compensation Expense [Line Items] | ||||
| Total stock-based compensation expense | 2,045 | 2,502 | 5,864 | 9,228 |
| Location, Statement of Income, Balance [Axis]: us-gaap:ResearchAndDevelopmentExpense | ||||
| Stock-Based Compensation Expense [Line Items] | ||||
| Total stock-based compensation expense | $ 1,702 | $ 1,490 | $ 4,879 | $ 4,947 |