Stockholders' Equity - Schedule of Reserve for Authorized but Unissued Shares of Common Stock (Details)	Dec. 31, 2023 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	6,323,272
Common stock options and restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	3,978,009
Common stock employee purchase plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	2,345,263