Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) shares in Thousands	Jun. 30, 2024 shares
Class of Stock [Line Items]
Shares reserved for stock options and restricted stock units to purchase common stock under equity incentive plans	5,882
Stock Options and Restricted Stock Units
Class of Stock [Line Items]
Shares reserved for stock options and restricted stock units to purchase common stock under equity incentive plans	2,456
Equity Securities
Class of Stock [Line Items]
Shares reserved for stock options and restricted stock units to purchase common stock under equity incentive plans	702
Warrants
Class of Stock [Line Items]
Shares reserved for stock options and restricted stock units to purchase common stock under equity incentive plans	2,724