Stockholders' Equity - Common Stock Reserved for Issuance (Details) - shares	Mar. 31, 2024	Dec. 31, 2023
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	14,942,477	12,196,331
Stock Options Outstanding
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	6,892,951	5,982,464
Unvested Restricted Stock Awards and Units
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	3,110,597	3,631,431
Shares Reserved for Future Issuance
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	1,649,038	1,013,840
Employee Stock Purchase Plan
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	675,485	565,405
Pre-Funded Warrant Shares
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	1,611,215
Apexigen Replacement Warrants
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	1,003,191	1,003,191