Supplementary Balance Sheet Information - Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property and equipment	$ 4,990	$ 4,682
Less—accumulated depreciation	(3,752)	(3,413)
Property and equipment, net	1,238	1,269
Furniture and office equipment
Property, Plant and Equipment [Line Items]
Property and equipment	1,067	1,066
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment	2,568	2,560
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment	$ 1,355	$ 1,056