Common Stock - Schedule of Common Share Reserved for Future Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock reserved	14,693,467	9,314,262
2020 Equity Incentive Award Plan
Class Of Stock [Line Items]
Common stock reserved	2,332,657	524,078	2,606,546
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved	273,375	313,034	252,337
Exercise of Options Issued and Outstanding and Future Vesting of Restricted Stock Units
Class Of Stock [Line Items]
Common stock reserved	8,450,290	8,423,481
Common Stock Warrants
Class Of Stock [Line Items]
Common stock reserved	3,637,145	53,669