Stock Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Stock-based compensation
Share-based compensation expense	$ 13,111	$ 9,895
Research and development expenses
Stock-based compensation
Share-based compensation expense	6,169	4,166
General and administrative expenses
Stock-based compensation
Share-based compensation expense	6,942	5,729
Stock Options
Stock-based compensation
Share-based compensation expense	9,887	8,648
Restricted Stock Units
Stock-based compensation
Share-based compensation expense	3,015	1,106
ESPP
Stock-based compensation
Share-based compensation expense	$ 209	$ 141