Equity Incentive Plans - Summary of Estimated Grant Date Fair Values of Stock Options Granted (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of common stock	$ 8.46
Risk-free interest rate, minimum	4.20%	1.70%	0.50%
Risk-free interest rate, maximum	4.30%	3.90%	1.40%
Expected volatility, minimum	71.20%	68.20%	67.10%
Expected volatility, maximum	71.60%	71.00%	70.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of common stock		$ 7.3	$ 30.86
Expected term (in years)	5 years 3 months 7 days	5 years 3 months 7 days	5 years 3 months 7 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of common stock		$ 14.95	$ 66.5
Expected term (in years)	6 years 29 days	6 years 29 days	6 years 29 days