Fair Value Measurements - Financial Assets and Liabilities Measured on a Recurring Basis (Details) - Recurring - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Assets:
Assets, fair value	$ 198,734	$ 181,470
Liabilities:
Liabilities, fair value	834	675
Derivative liabilities for exit fee
Liabilities:
Liabilities, fair value	834	675
Level 1
Assets:
Assets, fair value	32,303	18,641
Liabilities:
Liabilities, fair value	0	0
Level 1 | Derivative liabilities for exit fee
Liabilities:
Liabilities, fair value	0	0
Level 2
Assets:
Assets, fair value	166,431	162,829
Liabilities:
Liabilities, fair value	0	0
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	834	675
Level 3 | Derivative liabilities for exit fee
Liabilities:
Liabilities, fair value	834	675
Money market funds
Assets:
Assets, fair value	32,303	18,641
Money market funds | Level 1
Assets:
Assets, fair value	32,303	18,641
Money market funds | Level 2
Assets:
Assets, fair value	0	0
Money market funds | Level 3
Assets:
Assets, fair value	0	0
U.S. government-sponsored agency bonds
Assets:
Assets, fair value	101,717	102,093
U.S. government-sponsored agency bonds | Level 1
Assets:
Assets, fair value	0	0
U.S. government-sponsored agency bonds | Level 2
Assets:
Assets, fair value	101,717	102,093
U.S. government-sponsored agency bonds | Level 3
Assets:
Assets, fair value	0	0
Commercial paper
Assets:
Assets, fair value	53,521	49,654
Commercial paper | Level 1
Assets:
Assets, fair value	0	0
Commercial paper | Level 2
Assets:
Assets, fair value	53,521	49,654
Commercial paper | Level 3
Assets:
Assets, fair value	0	0
Asset-backed securities
Assets:
Assets, fair value	8,704	8,625
Asset-backed securities | Level 1
Assets:
Assets, fair value	0	0
Asset-backed securities | Level 2
Assets:
Assets, fair value	8,704	8,625
Asset-backed securities | Level 3
Assets:
Assets, fair value	0	0
U.S. treasury securities
Assets:
Assets, fair value	2,489	2,457
U.S. treasury securities | Level 1
Assets:
Assets, fair value	0	0
U.S. treasury securities | Level 2
Assets:
Assets, fair value	2,489	2,457
U.S. treasury securities | Level 3
Assets:
Assets, fair value	$ 0	$ 0