Stock-Based Compensation - Summary of Stock Option Activity (Details)	6 Months Ended	12 Months Ended
	Jun. 30, 2024 $ / shares shares	Dec. 31, 2023 $ / shares shares
Share-Based Payment Arrangement [Abstract]
Shares, Outstanding, Beginning Balance | shares	5,943,898
Shares, Exercised or Released | shares	(473,749)
Shares, Forfeited or Expired | shares	(316,963)
Shares Outstanding, Ending Balance | shares	5,153,186	5,943,898
Shares, Exercisable | shares	4,207,015
Shares, Vested and Expected To Vest | shares	5,149,253
Weighted-Average Exercise Price, Beginning Balance | $ / shares	$ 10.28
Weighted-Average Exercise Price, Exercised or Released | $ / shares	6.07
Weighted-Average Exercise Price, Forfeited or Expired | $ / shares	11.22
Weighted-Average Exercise Price, Ending Balance | $ / shares	10.61	$ 10.28
Weighted-Average Exercise Price, Exercisable | $ / shares	9.36
Weighted-Average Exercise Price, Vested and Expected To Vest | $ / shares	$ 10.60
Weighted-Average Remaining Contractual Term (Years)	5 years 10 months 9 days	6 years 6 months 10 days
Weighted-Average Remaining Contractual Term (Years), Exercisable	5 years 5 months 23 days
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest	5 years 10 months 9 days