Balance Sheet Components - Summary of Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property Plant And Equipment [Line Items]
Property and equipment	$ 15,974	$ 15,150
Less accumulated depreciation	(12,944)	(12,822)
Total	3,030	2,328
Construction in progress	0	984
Property and equipment, net	3,030	3,312
Lab Equipment
Property Plant And Equipment [Line Items]
Property and equipment	13,289	12,521
Office and Computer Equipment
Property Plant And Equipment [Line Items]
Property and equipment	562	548
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Property and equipment	870	828
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property and equipment	$ 1,253	$ 1,253