Net Loss Per Share - Schedule of Basic and Diluted Net Loss Per Common Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Numerator:
Net loss	$ (22,738)	$ (14,724)
Denominator:
Weighted-average common shares outstanding (including vested and unvested shares)	42,118,267	18,738,115
Less: weighted-average unvested common stock issued upon early exercise of common stock options	(68,244)	(149,069)
Less: weighted-average unvested restricted shares of common stock	(4,415)	(74,402)
Weighted-average shares outstanding, basic	42,045,608	18,514,644
Weighted-average shares outstanding, diluted	42,045,608	18,514,644
Net loss per share, basic	$ (0.54)	$ (0.8)
Net loss per share, diluted	$ (0.54)	$ (0.8)