Stock-based Compensation Expense - Summary of Stock Option Activity (Details) - 2019 Plan and 2016 Plan - Employee Stock Option - USD ($)	6 Months Ended	12 Months Ended
	Jun. 30, 2024	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding, Beginning balance	9,972,217
Number of Shares, Granted	2,964,458
Number of Shares, Exercised	(239,727)
Number of Shares, Cancelled	(149,554)
Number of Shares, Outstanding, Ending balance	12,547,394	9,972,217
Number of Shares, Exercisable	4,705,847
Weighted Average Exercise Price, Outstanding, Beginning balance	$ 8.44
Weighted Average Exercise Price, Granted	7.55
Weighted Average Exercise Price, Exercised	7.37
Weighted Average Exercise Price, Cancelled	8.89
Weighted Average Exercise Price, Outstanding, Ending balance	8.24	$ 8.44
Weighted Average Exercise Price, Exercisable	$ 10.54
Weighted Average Remaining Contractual Term (in years), Outstanding	8 years 5 months 4 days	8 years 5 months 26 days
Weighted Average Remaining Contractual Term (in years), Exercisable	7 years 5 months 19 days
Aggregate Intrinsic Value, Outstanding	$ 12,343,417	$ 15,114,074
Aggregate Intrinsic Value, Exercisable	$ 3,434,971