Commitments and Contingencies - Additional Information (Details) $ in Thousands		1 Months Ended			3 Months Ended		9 Months Ended
	Sep. 15, 2023 USD ($) ft² $ / ft²	May 31, 2022 USD ($) ft² $ / ft²	Jun. 30, 2021 USD ($) ft² $ / ft²	Feb. 28, 2019 USD ($)	Sep. 30, 2024 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2024 USD ($)	Sep. 30, 2023 USD ($)	Dec. 31, 2023 USD ($)
Commitments And Contingencies [Line Items]
Total operating lease liability					$ 24,430		$ 24,430		$ 27,000
Current operating lease liability					$ 3,732		$ 3,732		$ 3,500
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]					Accrued and other current liabilities		Accrued and other current liabilities		Accrued and other current liabilities
Sublease income					$ 1,067	$ 976	$ 4,011	$ 2,904
South San Francisco, California
Commitments And Contingencies [Line Items]
Lessee, operating lease, description							In February 2019, the Company entered into a lease agreement for new office and laboratory space in South San Francisco, California. The term of the lease agreement commenced in May 2019. The lease has an initial term from occupancy of approximately ten years ending on December 31, 2029 with an option to extend the term for an additional eight years at then-market rental rates
Operating lease, initial lease term				10 years
Operating lease, renewal term				8 years
Tenant improvement allowance				$ 10,700
Letter of credit, delivered in connection of lease agreement				$ 900
Lease commencement date				2019-05
Operating lease, option to extend description							option to extend the term for an additional eight years
Operating lease, existence of option to extend							true
Lease expiration date				Dec. 31, 2029
South San Francisco, California | Office and Laboratory Space, Second Floor
Commitments And Contingencies [Line Items]
Space subleased (in square feet) | ft²	17,000	15,000
Sublease start date	Oct. 01, 2023	Jul. 01, 2022
Sublease expiration date	Jun. 30, 2026	Jun. 30, 2026
Sublease rent per square foot | $ / ft²	1	7.8
Annual percentage increase in sublease base rent	3.50%	3.50%
Increase in sublease rent per square foot | $ / ft²	6.02
Percentage of operating expenses and property management fees to be paid by subtenant	51.00%	24.00%
Incurred initial direct costs of sublease	$ 300	$ 100
Sublease income					900	400	$ 2,500	1,200
Original sublease expiration date		Jun. 30, 2024
Existing sublease start date	Jul. 01, 2022
South San Francisco, California | Office And Laboratory Space First Floor
Commitments And Contingencies [Line Items]
Space subleased (in square feet) | ft²			23,000
Sublease expiration date			Jul. 31, 2024
Sublease rent per square foot | $ / ft²			6.25
Annual percentage increase in sublease base rent			3.50%
Percentage of operating expenses and property management fees to be paid by subtenant			37.00%
Incurred initial direct costs of sublease			$ 200
Sublease income					$ 200	$ 600	$ 1,500	$ 1,700
Brisbane, California | Office And Laboratory Space First Floor
Commitments And Contingencies [Line Items]
Space subleased (in square feet) | ft²	4,500
Sublease start date	Oct. 06, 2023
Sublease expiration date	Jun. 30, 2024
Sublease rent per square foot | $ / ft²	2