Equity Incentive Plans - Schedule of Stock Option Activity (Details)	6 Months Ended
	Jun. 30, 2024 $ / shares shares
Share-Based Payment Arrangement [Abstract]
Beginning balance (in shares) | shares	11,945,032
Options granted (in shares) | shares	3,094,537
Options cancelled and forfeited (in shares) | shares	(874,115)
Ending balance (in shares) | shares	14,165,454
Vested and exercisable (in shares) | shares	7,687,908
Beginning balance (in usd per share) | $ / shares	$ 11.89
Options granted (in usd per share) | $ / shares	1.79
Options forfeited (in usd per share) | $ / shares	8.57
Ending balance (in usd per share) | $ / shares	9.89
Vested and exercisable (in usd per share) | $ / shares	$ 8.74