Stockholders' Equity - Summary of Stock Based Compensation Expense (Details) - Employees and Directors - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense (in dollars per share)	$ 28,719	$ 32,383	$ 26,242
Research and development
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense (in dollars per share)	14,258	17,875	14,271
General and administrative
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense (in dollars per share)	$ 14,461	$ 14,508	$ 11,971