Preferred and Common Stock - Schedule of Common Stock Reserved for Future Issuances (Details)	Dec. 31, 2023 shares
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	23,905,324
Option to Exercise Stock Warrants
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	15,786,924
Stock Options and Restricted Stock Units
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	7,679,566
Employee stock purchase plan
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	438,834