Yay, I found the source of the problem. I found a README in the Espruino repo with more specific instructions for my 1MB device.
Here's the exact command that worked for me:
$ ~/.local/bin/esptool.py --port /dev/ttyUSB0 --baud 115200 write_flash --flash_freq 40m --flash_mode dout --flash_size 1MB 0x0000 "boot_v1.6.bin" 0x1000 espruino_esp8266_user1.bin 0xFC000 esp_init_data_default.bin 0xFE000 blank.bin
Note that this did not work with flash modes qio or dio. Only dout worked.
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