Stock-based Compensation - Summary of Stock Option Activity (Details) - Employee Stock Option $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2024 USD ($) $ / shares shares	Dec. 31, 2023 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares Outstanding at December 31, 2023 | shares	24,970,957
Shares Granted | shares	11,596,445
Shares Exercised | shares	(145,293)
Shares Canceled | shares	(1,593,563)
Shares Outstanding at June 30, 2024 | shares	34,828,546	24,970,957
Shares Options exercisable at June 30, 2024 | shares	15,155,782
Weighted-average exercise price, Outstanding at December 31, 2023 | $ / shares	$ 4.98
Weighted-average exercise price, Granted | $ / shares	1.76
Weighted-average exercise price, Exercised | $ / shares	0.89
Weighted-average exercise price, Canceled | $ / shares	3.93
Weighted-average exercise price, Outstanding at June 30, 2024 | $ / shares	3.97	$ 4.98
Weighted-average exercise price, Options exercisable at June 30, 2024 | $ / shares	$ 4.7
Weighted-average remaining contractual term (years), Outstanding	8 years 18 days	8 years 1 month 13 days
Weighted-average remaining contractual term (years), Options exercisable at June 30, 2024	6 years 9 months 29 days
Aggregate intrinsic value, Outstanding | $	$ 11,579	$ 4,412
Aggregate intrinsic value, Options exercisable at June 30, 2024 | $	$ 5,433