Stock-Based Compensation - Summary 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]
Number of Options Outstanding, Beginning Balance	7,922,797
Number of Options, Granted	3,779,342
Number of Options, Forfeited	(1,262,388)
Number of Options Outstanding, Ending Balance	10,439,751	7,922,797
Options vested and exercisable at December 31, 2023	4,534,147
Weighted Average Exercise Price, Options outstanding at January 1, 2023	$ 17.81
Weighted Average Exercise Price, Granted	6.24
Weighted Average Exercise Price, Forfeited	16.25
Weighted Average Exercise Price, Options outstanding at December 31, 2023	13.81	$ 17.81
Weighted Average Exercise Price, Options vested and exercisable at December 31, 2023	$ 18.86
Weighted Average Contractual Life, Options outstanding	7 years 10 months 24 days	8 years 3 months 18 days
Weighted Average Contractual Life, Options vested and exercisable at December 31, 2023	7 years 2 months 12 days
Aggregate Intrinsic Value, Options outstanding at January 1, 2023	$ 786
Aggregate Intrinsic Value, Granted	57
Aggregate Intrinsic Value, Forfeited	$ 82
Aggregate Intrinsic Value, Options outstanding at December 31, 2023		$ 786