Equity Incentive Plans - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]
Beginning balance (in shares)	10,214,430
Options granted (in shares)	3,576,669
Options exercised (in shares)	(188,998)
Options cancelled and forfeited (in shares)	(1,657,069)
Ending balance (in shares)	11,945,032	10,214,430
Vested and exercisable (in shares)	6,893,780
Beginning balance (in usd per share)	$ 13.9
Options granted (in usd per share)	4.17
Options exercised (in usd per share)	0.52
Options forfeited (in usd per share)	8.92
Ending balance (in usd per share)	11.89	$ 13.9
Vested and exercisable (in usd per share)	$ 8.88
Options outstanding, Weighted Average Remaining Term (Years)	6 years 10 months 20 days	8 years
Options vested and exercisable, Weighted Average Remaining Term (Years)	6 years 4 months 24 days
Options outstanding, Aggregate Intrinsic Value	$ 454	$ 12,685
Options vested and exercisable, Aggregate Intrinsic Value	$ 410