Stockholders' Equity - Common Stock Reserved for Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	14,819,122	12,196,331
Stock Options Outstanding
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	6,956,497	5,982,464
Non-Vested and Unsettled Restricted Stock Units
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	3,053,833	3,631,431
Shares Reserved for Future Issuance
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	1,578,783	1,013,840
Employee Stock Purchase Plan
Schedule Of Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for future issuance	615,603	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