Condensed Consolidated Statements of Operations and Comprehensive Loss - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Income Statement [Abstract]
Revenue from collaboration agreements	$ 3,039	$ 3,759
Operating expenses:
Research and development	22,533	29,042
General and administrative	10,288	10,945
Restructuring	2,437	0
Total operating expenses	35,258	39,987
Loss from operations	(32,219)	(36,228)
Other income (expense), net:
Interest expense and amortization of long-term debt − related party	0	(606)
Interest and other income, net	3,858	2,054
Total other income (expense), net	3,858	1,448
Loss before income taxes	(28,361)	(34,780)
Income tax expense	0	0
Net loss	$ (28,361)	$ (34,780)
Net loss per share − basic (in dollars per share)	$ (0.41)	$ (0.71)
Net loss per share − diluted (in dollars per share)	$ (0.41)	$ (0.71)
Weighted-average number of shares used in computed net loss per share − basic	68,432,168	49,032,319
Weighted-average number of shares used in computed net loss per share − diluted	68,432,168	49,032,319
Other comprehensive income (loss)
Unrealized (loss) gain on marketable securities	$ (253)	$ 1,667
Comprehensive loss	$ (28,614)	$ (33,113)
Revenue from Contract with Customer, Product and Service [Extensible Enumeration]	Collaborative Arrangement [Member]	Collaborative Arrangement [Member]