Commitments and Contingencies - Narrative (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($)	Mar. 31, 2023 USD ($)	Dec. 31, 2023 USD ($)	Jan. 31, 2022 USD ($) a
Loss Contingencies [Line Items]
Operating lease right-of-use assets	$ 9,513		$ 9,952
Letter of Credit
Loss Contingencies [Line Items]
Borrowing capacity				$ 388
Brisbane, California
Loss Contingencies [Line Items]
Term of contract				8 years
Area of property (in sqft) | a				20,116
South San Francisco, California
Loss Contingencies [Line Items]
Operating lease right-of-use assets	9,513		9,952
Present value of operating lease obligations	9,773		$ 10,112
Rent expense	$ 685	$ 710