Balance Sheet Components - Property and Equipment, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Property Plant And Equipment [Line Items]
Total property and equipment	$ 9,332	$ 9,332
Less accumulated depreciation and amortization	(5,941)	(5,420)
Property and equipment, net	3,391	3,912
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	3,488	3,488
Furniture, Laboratory and Office Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	5,559	5,559
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 285	$ 285