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Income Taxes - Schedule of Reconciliation of U.S Federal Statutory Income Tax Rate to Company's Effective Income Tax Rate (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Income Tax Disclosure [Abstract]    
Federal statutory income tax rate (21.00%) (21.00%)
Research and development tax credits (4.30%) (3.10%)
State taxes, net of federal benefit (7.80%) (4.30%)
Stock-based compensation 1.40% 0.60%
Uncertain tax position reserves 0.80% 4.60%
Other (0.30%) 0.30%
Change in deferred tax asset valuation allowance 31.20% 22.90%
Effective income tax rate 0.00% 0.00%