Stock-Based Compensation - Summary of Activity under Plans (Details) - 2015 and 2019 Plans and 2023 Inducement Plan - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding Options, Shares, Beginning balance	5,097,263
Outstanding Options, Shares, Options granted	2,694,871
Outstanding Options, Shares, Options exercised	(931,012)
Outstanding Options, Shares, Options canceled	(591,147)
Outstanding Options, Shares, Ending balance	6,269,975	5,097,263
Outstanding Options, Shares, Exercisable	2,612,605
Outstanding Options, Shares, Vested and expected to vest	6,269,975
Outstanding Options, Weighted-Average Exercise Price, Beginning balance	$ 12.93
Outstanding Options, Weighted-Average Exercise Price, Options granted	18.95
Outstanding Options, Weighted-Average Exercise Price, Options exercised	10.27
Outstanding Options, Weighted-Average Exercise Price, Options canceled	16.93
Outstanding Options, Weighted-Average Exercise Price, Ending balance	15.53	$ 12.93
Outstanding Options, Weighted-Average Exercise Price, Exercisable	12.21
Outstanding Options, Weighted-Average Exercise Price, Vested and expected to vest	$ 15.53
Outstanding Options, Weighted Average Remaining Contractual Term (Years)	7 years 9 months 25 days	7 years 10 months 2 days
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Exercisable	6 years 4 months 20 days
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Vested and expected to vest	7 years 9 months 25 days
Outstanding Options, Aggregate Intrinsic Value	$ 128,490	$ 29,580
Outstanding Options, Aggregate Intrinsic Value, Exercisable	62,220
Outstanding Options, Aggregate Intrinsic Value, Vested and expected to vest	$ 128,490