Fair Value Measurements - Financial Assets and Liabilities Measured on a Recurring Basis (Details) - Recurring - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Assets:
Assets, fair value	$ 181,470	$ 112,082
Liabilities:
Liabilities, fair value	675	1,656
Money market funds
Assets:
Assets, fair value	18,641	84,313
U.S. government-sponsored agency bonds
Assets:
Assets, fair value	102,093	1,479
Commercial paper
Assets:
Assets, fair value	49,654	25,291
Asset-backed securities
Assets:
Assets, fair value	8,625
U.S. treasury securities
Assets:
Assets, fair value	2,457
Corporate bonds
Assets:
Assets, fair value		999
Derivative liabilities for exit fee
Liabilities:
Liabilities, fair value	675	1,656
Level 1
Assets:
Assets, fair value	18,641	84,313
Liabilities:
Liabilities, fair value	0	0
Level 1 | Money market funds
Assets:
Assets, fair value	18,641	84,313
Level 1 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	0	0
Level 1 | Commercial paper
Assets:
Assets, fair value	0	0
Level 1 | Asset-backed securities
Assets:
Assets, fair value	0
Level 1 | U.S. treasury securities
Assets:
Assets, fair value	0
Level 1 | Corporate bonds
Assets:
Assets, fair value		0
Level 1 | Derivative liabilities for exit fee
Liabilities:
Liabilities, fair value	0	0
Level 2
Assets:
Assets, fair value	162,829	27,769
Liabilities:
Liabilities, fair value	0	0
Level 2 | Money market funds
Assets:
Assets, fair value	0	0
Level 2 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	102,093	1,479
Level 2 | Commercial paper
Assets:
Assets, fair value	49,654	25,291
Level 2 | Asset-backed securities
Assets:
Assets, fair value	8,625
Level 2 | U.S. treasury securities
Assets:
Assets, fair value	2,457
Level 2 | Corporate bonds
Assets:
Assets, fair value		999
Level 2 | Derivative liabilities for exit fee
Liabilities:
Liabilities, fair value	0	0
Level 3
Assets:
Assets, fair value	0	0
Liabilities:
Liabilities, fair value	675	1,656
Level 3 | Money market funds
Assets:
Assets, fair value	0	0
Level 3 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	0	0
Level 3 | Commercial paper
Assets:
Assets, fair value	0	0
Level 3 | Asset-backed securities
Assets:
Assets, fair value	0
Level 3 | U.S. treasury securities
Assets:
Assets, fair value	0
Level 3 | Corporate bonds
Assets:
Assets, fair value		0
Level 3 | Derivative liabilities for exit fee
Liabilities:
Liabilities, fair value	$ 675	$ 1,656