Stockholders' Equity - Schedule of Shares of Common Stock Reserved for Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Total (in shares)	34,343,000	31,269,000
Common stock options & RSUs outstanding
Class of Stock [Line Items]
Total (in shares)	13,612,000	14,215,000
Reserve balance for Sales Agreement
Class of Stock [Line Items]
Total (in shares)	10,937,000	10,937,000
Common stock available for grant
Class of Stock [Line Items]
Total (in shares)	9,189,000	5,661,000
ESPP shares available for purchase
Class of Stock [Line Items]
Total (in shares)	540,000	264,000
401(k) matching plan
Class of Stock [Line Items]
Total (in shares)	65,000	192,000