Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Number of shares, Outstanding at beginning of period	9,390,930	7,179,482
Number of shares, Granted	3,238,898	3,884,429
Number of shares, Exercised	(26,899)	(217,905)
Number of shares, Forfeited	(704,483)	(1,455,076)
Number of shares, Outstanding at end of period	11,898,446	9,390,930	7,179,482
Number of shares, Exercisable at December 31, 2023	6,084,483
Weighted average exercise price per share, Outstanding at beginning of period	$ 12.08	$ 15.36
Weighted average exercise price per share, Granted	6.68	7.58
Weighted average exercise price per share, Exercised	1.78	1.78
Weighted average exercise price per share, Forfeited	12.58	17.84
Weighted average exercise price per share, Outstanding at end of period	10.6	$ 12.08	$ 15.36
Weighted average exercise price per share, Exercisable at December 31, 2023	$ 11.62
Weighted average remaining contractual term (years), Outstanding	7 years 9 months 7 days	8 years 3 months 21 days	8 years 7 months 28 days
Weighted average remaining contractual term (years), Exercisable	6 years 11 months 15 days

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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