Net Loss Per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss attributable to common stockholders	$ (112,961)	$ (58,655)	$ (49,762)
Denominator:
Weighted-average shares outstanding, basic	57,519,929	41,444,696	35,262,987
Less:weighted-average shares of restricted stock that are subject to repurchase			(10,544)
Weighted-average shares used in computing net loss per share attributable to common stock, basic	57,519,929	41,444,696	35,252,443
Weighted-average shares used in computing net loss per share attributable to common stock, diluted	57,519,929	41,444,696	35,252,443
Net loss per share attributable to common stockholders, basic	$ (1.96)	$ (1.42)	$ (1.41)
Net loss per share attributable to common stockholders, diluted	$ (1.96)	$ (1.42)	$ (1.41)