Stockholders' Equity - Summary of Total Non-cash Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash stock-based compensation expense	$ 952	$ 934	$ 1,924	$ 1,972
Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash stock-based compensation expense	368	377	738	787
General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash stock-based compensation expense	$ 584	$ 557	$ 1,186	$ 1,185