Stock-based Compensation - Assumptions used to Determine Fair Value of Stock Option Grants (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Employee Stock Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Risk-free interest rate, minimum	4.26%	3.50%	3.84%	3.46%
Risk-free interest rate, maximum	4.64%	3.98%	4.64%	4.22%
Expected volatility, minimum	82.72%	83.20%	82.72%	83.20%
Expected volatility, maximum	83.14%	85.02%	83.91%	85.81%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Employee Stock Option | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term (in years)	5 years 6 months	5 years 6 months	5 years 3 months 10 days	5 years 6 months
Employee Stock Option | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 29 days	6 years 29 days	6 years 29 days
ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Risk-free interest rate, minimum	4.75%	4.70%	4.75%	4.70%
Risk-free interest rate, maximum	5.39%	5.35%	5.39%	5.35%
Expected volatility, minimum	68.73%	72.54%	68.73%	72.54%
Expected volatility, maximum	74.72%	82.79%	74.72%	82.79%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
ESPP | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term (in years)	5 months 26 days	6 months	5 months 26 days	6 months
ESPP | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term (in years)	1 year 11 months 26 days	1 year 11 months 26 days	1 year 11 months 26 days	1 year 11 months 26 days