Net Loss Per Share - Schedule of Basic and Diluted Net Loss Per Common Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023
Numerator:
Net loss	$ (19,950)	$ (22,738)	$ (16,721)	$ (14,724)	$ (42,688)	$ (31,445)
Denominator:
Weighted-average common shares outstanding (including vested and unvested shares)	48,125,940		41,131,134		45,122,104	30,058,872
Less: weighted-average unvested common stock issued upon early exercise of common stock options	(49,371)		(128,384)		(58,807)	(138,716)
Less: weighted-average unvested restricted shares of common stock	(1,534)		(41,726)		(2,975)	(57,974)
Weighted-average shares outstanding, basic	48,075,035		40,961,024	40,961,024	45,060,322	29,862,182
Weighted-average shares outstanding, diluted	48,075,035		40,961,024	40,961,024	45,060,322	29,862,182
Net loss per share, basic	$ (0.41)		$ (0.41)		$ (0.95)	$ (1.05)
Net loss per share, diluted	$ (0.41)		$ (0.41)		$ (0.95)	$ (1.05)