Balance Sheet Components - Schedule of Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Clinical trials and research and development costs	$ 6,942	$ 14,597
Personnel-related costs	6,439	9,181
Accrued expenses	3,257	3,834
Manufacturing costs	461	6,026
Total accrued liabilities	$ 17,099	33,638
Condensed Balance Sheet Statements, Captions [Line Items]
Cancellation charges		3,000
Accrued Manufacturing Costs
Condensed Balance Sheet Statements, Captions [Line Items]
Cancellation charges		1,800
Accounts Payable
Condensed Balance Sheet Statements, Captions [Line Items]
Cancellation charges		$ 1,200