Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Property Plant And Equipment [Line Items]
Total property and equipment	$ 15,775	$ 14,062
Less: Accumulated depreciation and amortization	(9,611)	(7,553)
Property and equipment, net	6,164	6,509
Laboratory Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 11,455	9,743
Property and equipment net, useful life	5 years
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 261	261
Property and equipment net, useful life	3 years
Software
Property Plant And Equipment [Line Items]
Total property and equipment	$ 231	231
Property and equipment net, useful life	3 years
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 3,321	3,321
Property and equipment net, useful life	Shorter of usefullife or lease term
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	$ 507	$ 506
Property and equipment net, useful life	5 years