Operating Leases - Additional Information (Details) $ in Thousands	1 Months Ended		12 Months Ended
	Nov. 30, 2023 ft²	Jun. 30, 2023 ft²	Dec. 31, 2023 USD ($) ft²	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Operating Leased Assets [Line Items]
Right-of-use asset			$ 2,246	$ 2,484
Operating lease liability			2,872
Operating lease cost			1,700	1,700	$ 1,700
Variable lease cost			1,400	1,000	1,000
Cash paid included in measurement of operating lease liabilities included in cash flow from operating activities			$ 2,000	$ 2,000	$ 1,900
South San Francisco, California | Lease Agreement
Operating Leased Assets [Line Items]
Area of space leased | ft²		44,000
Operating lease, option to extend, description			The Company has the option to extend the lease term for two consecutive five-year periods.
Operating lease option to extend		true
Operating lease commencement month and year		2024-06
Operating lease term		120 months
South San Francisco | Lease Agreement | Laboratory and Office Facilities
Operating Leased Assets [Line Items]
Area of space leased | ft²			29,000
Lease expiration			2024-07
San Diego, California | Lease Agreement
Operating Leased Assets [Line Items]
Area of space leased | ft²	5,700
Lease expiration	2028-03
Right-of-use asset			$ 1,300
Operating lease liability			$ 1,300
Operating lease existence of option to renew	true
Operating lease renewal term	3 years
Operating lease commencement month and year	2023-12