Summary of Significant Accounting Policies - Additional Information (Details)	1 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($)	Dec. 31, 2023 USD ($) segment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Jun. 30, 2020 USD ($)
Summary Of Significant Accounting Policies [Line Items]
Net losses		$ 142,375,000	$ 162,667,000	$ 120,335,000
Accumulated deficit		724,008,000	$ 581,633,000
Cash, cash equivalents and short-term marketable securities		144,200,000
Common stock remaining to be sold under open market sales agreement					$ 150,000,000
Sale of common stock, aggregate price	$ 100,000,000
Impairment related to other-than-temporary		$ 0
Number of operating segments | segment		1
Merck | Revenue | Customer Concentration Risk
Summary Of Significant Accounting Policies [Line Items]
Percentage of revenue		100.00%	100.00%	100.00%
Maximum
Summary Of Significant Accounting Policies [Line Items]
Common stock remaining to be sold under open market sales agreement		$ 100,000,000