Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforward	$ 33,441	$ 28,199
Section 174 capitalized research and development expenses	8,851	5,489
Research and development credits	6,765	5,319
Operating lease liabilities	2,263	107
Stock-based compensation	1,592	1,373
Other	616	769
Total deferred tax assets	53,528	41,256
Valuation allowance	(51,384)	(41,159)
Total deferred tax assets	2,144	97
Deferred Tax Liabilities, Leasing Arrangements	2,144	97
Deferred tax liabilities:
Total deferred tax liabilities	(2,144)	(97)
Net deferred tax assets (liabilities)	$ 0	$ 0