Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Property, Plant and Equipment [Line Items]
Property and equipment	$ 2,033	$ 1,865
Less accumulated depreciation	(1,113)	(1,025)
Property and equipment-net	920	840
Computer equipment and software
Property, Plant and Equipment [Line Items]
Property and equipment	173	169
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property and equipment	328	328
Lab equipment
Property, Plant and Equipment [Line Items]
Property and equipment	1,297	1,133
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment	$ 235	$ 235