Equity Incentive Plan - Weighted Average Assumptions Used to Estimate Fair Value of Stock Options Granted to Employees (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected option term	6 years	6 years	6 years	6 years
Expected volatility	66.00%	65.00%	66.00%	66.00%
Risk free interest rate	4.50%	3.60%	4.30%	4.00%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected option term	1 year 1 month 6 days	1 year 1 month 6 days	1 year 1 month 6 days	1 year 1 month 6 days
Expected volatility	74.00%	57.00%	74.00%	57.00%
Risk free interest rate	5.10%	4.90%	5.10%	4.90%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%