Stockholders' Equity - Common Stock Reserved for Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	12,196,332	10,967,643
Stock Options Outstanding
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	5,982,464	5,720,415
Unvested Restricted Stock Awards and Units
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	3,631,431	3,015,387
Shares Reserved for Future Issuance
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	1,013,840	1,697,166
Common Stock Warrants
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	1,003,191
Employee Stock Purchase Plan
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	565,405	534,675