Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands				12 Months Ended
	Aug. 23, 2023	Mar. 24, 2023	Jan. 01, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 29, 2023	Jul. 01, 2022	Sep. 27, 2021	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares reserved and autorized for future issuance				12,196,332	10,967,643
Number of options to purchase common stock				5,982,464	5,720,415
Number of option to purchase restricted common stock				3,631,431	3,015,387
Incremental stock-based compensation expense				$ 1,100
Incremental stock-based compensation expense recognized				$ 900
Fair value of common stock per share						$ 1.8
Weighted-average fair value of options granted				$ 1.87	$ 3.06
Intrinsic value of options exercised				$ 100	$ 100
Gross unrecognized stock-based compensation expense				$ 9,100
Unrecognized stock-based compensation expense weighted average amortized period				1 year 11 months 12 days
Number of restricted stock units granted				4,200,428
Stock-based compensation expense				$ 16,946	$ 15,764
Apexigen
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price	$ 10,732
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares reserved and autorized for future issuance				3,631,431	3,015,387
Stock-based compensation expense				$ 6,311	$ 3,817
Restricted Stock Units ('RSU')
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of option to purchase restricted common stock				2,700,039
Fair value of restricted common stock vested				$ 8,000	500
Unrecognized stock-based compensation expense weighted average amortized period				2 years 5 months 23 days
Number of restricted stock units granted				4,200,428
Common stock public offering price per share				$ 0.01
Gross unrecognized stock-based compensation expense				$ 6,800
Number of shares issued				2,476,301
Replacement Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares issued	712,181
Replacement Options | Apexigen
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares issued	4,128,809
Purchase price	$ 100
Replacement RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares issued	34,500
Replacement RSUs | Apexigen
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares issued	200,000
2022 Equity Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares reserved and autorized for future issuance							1,400,000
Number of options to purchase common stock				828,432
Number of common shares reserved for future issuance				346,443
2022 Equity Inducement Plan | Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of option to purchase restricted common stock				138,871
2022 Equity Inducement Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award expiration period				10 years
2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares reserved and autorized for future issuance								3,852,807
Number of additional shares authorized			1,755,501
Number of options to purchase common stock				2,037,393
Number of common shares reserved for future issuance				537,772
Number of shares of common stock outstanding percentage				5.00%
Maximum number of common shares issuable under exercise of options				7,705,614
2021 Equity Incentive Plan | Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of option to purchase restricted common stock				2,452,500
2021 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award expiration period				10 years
2019 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reduction in exercise price of relevant option		$ 2.21
Number of options to purchase common stock				2,272,833
Number of common shares reserved for future issuance				52,299
2019 Equity Incentive Plan | Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of option to purchase restricted common stock				962,390
2019 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award expiration period				10 years
Number of common shares reserved and autorized for future issuance									4,042,408
2022 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares reserved and autorized for future issuance				443,912
Number of additional shares authorized			554,890	554,890
Number of options to purchase common stock				843,806
Number of common shares reserved for future issuance				77,326
Number of shares of common stock outstanding percentage				0.8625%
Maximum number of common shares issuable under exercise of options				597,077
2022 Equity Incentive Plan | Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of option to purchase restricted common stock				77,670
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares reserved and autorized for future issuance				565,405				424,595
Number of additional shares authorized			110,080	110,080
Number of shares of common stock outstanding percentage				1.00%
Stock-based compensation expense					$ 0
Number of shares issued				79,350
2021 Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense				$ 100
Stock Options 2022 Inducement Plan, 2022 Plan, 2020 Plan, 2021 Plan and 2019 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award expiration period				10 years
Stock options vesting period				4 years