Stock-Based Compensation - Stock Option Award Activity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, Beginning Balance (in shares)	5,945,321
Granted (in shares)	3,368,717
Canceled or forfeited (in shares)	(1,204,915)
Exercised (in shares)	0
Outstanding, Ending Balance (in shares)	8,109,123	5,945,321
Options vested and expected to vest (in shares)	3,046,060
Weighted-Average Exercise Price
Beginning Balance (in dollars per share)	$ 4.65
Granted (in dollars per share)	1.69
Canceled or forfeited (in dollars per share)	4.06
Exercised (in dollars per share)	0
Ending Balance (in dollars per share)	3.51	$ 4.65
Options vested and expected to vest (in dollars per share)	$ 4.80
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Options Outstanding, Weighted Average Remaining Contractual Term (years)	8 years 9 months 18 days	9 years 1 month 6 days
Options Vested and Expected to Vest, Weighted Average Remaining Contractual Term (years)	8 years
Options Outstanding, Aggregate Intrinsic Value
Options vested and expected to vest
Minimum
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Exercise price of options outstanding (in dollars per share)	$ 1.15
Maximum
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Exercise price of options outstanding (in dollars per share)	$ 876