Equity Incentive Plans - Summary of Estimated Fair Value of Employee Stock Options (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Fair Value Assumptions
Expected volatility, Minimum	71.30%	78.10%	81.00%
Expected volatility, Maximum	74.00%	85.10%	84.10%
Expected dividend yield	0.00%	0.00%	0.00%
Risk-free interest rate, Minimum	3.50%	1.60%	0.50%
Risk-free interest rate, Maximum	4.60%	4.40%	1.30%
Minimum
Fair Value Assumptions
Expected term (in years)	5 years 3 months 18 days	5 years 3 months 18 days	5 years 3 months 18 days
Maximum
Fair Value Assumptions
Expected term (in years)	5 years 4 months 24 days	5 years 6 months	5 years 6 months