Stockholders' Equity - Schedule of Common Stock Reserved for Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Common stock reserved for issuance	24,145,170	11,941,705
Common stock issuable upon conversion of convertible notes
Class Of Stock [Line Items]
Common stock reserved for issuance	9,964,247	0
Stock options, restricted stock units and performance stock units issued and outstanding
Class Of Stock [Line Items]
Common stock reserved for issuance	10,909,831	8,955,557
Reserved for Future Stock Awards or Option Grants
Class Of Stock [Line Items]
Common stock reserved for issuance	2,230,264	1,596,947
Reserved for Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved for issuance	1,040,828	1,157,570
Common stock held back in connection with asset acquisition
Class Of Stock [Line Items]
Common stock reserved for issuance	0	31,638
Common stock issuable as contingent consideration in connection with asset acquisition
Class Of Stock [Line Items]
Common stock reserved for issuance	0	199,993