Common Stock - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Feb. 24, 2024	Dec. 31, 2023	Dec. 31, 2022	May 31, 2019
Class Of Stock [Line Items]
Number of common stock reserved for future issuance		11,416,291	6,668,705	195,000
Pre-funded Warrants Issued and Outstanding
Class Of Stock [Line Items]
Number of common stock reserved for future issuance		2,339,420
2019 Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance		964,622
2023 Inducement Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	1,000,000	524,300
Employee Stock Purchase Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance		1,317,974	906,523
Outstanding Options | 2015, 2019 and 2023 Plans
Class Of Stock [Line Items]
Number of common stock reserved for future issuance		6,269,975	5,097,263
Employee Stock Option | 2019 Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance		964,622	664,919
Employee Stock Option | 2023 Inducement Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance		524,300