Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands				1 Months Ended		3 Months Ended				6 Months Ended		12 Months Ended		64 Months Ended
	Nov. 09, 2023	Jul. 14, 2023	May 23, 2023	Oct. 31, 2019	Mar. 31, 2019	Jun. 30, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023	Dec. 31, 2019	Jun. 30, 2024	Jan. 01, 2024
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Proceeds from issuance of shares											$ 14,073
Preferred stock, shares authorized						40,000,000				40,000,000		40,000,000		40,000,000
Preferred stock, shares issued						0				0		0		0
Preferred stock, shares outstanding						0				0		0		0
Stock options, granted										2,224,400
Stock-based compensation cost						$ 6,099		$ 7,253		$ 11,725	14,301
Common stock initially reserved for issuance						12,319,834				12,319,834				12,319,834
Unrecognized stock-based compensation expense						$ 20,300				$ 20,300				$ 20,300
Unrecognized stock-based compensation expense, weighted-average period for recognition										2 years 7 months 6 days
Defined contribution plan employer contribution liabilities expense						1,300		400		$ 3,000	$ 1,200
Defined contribution plan, employer matching contribution, percentage										75.00%
Employer discretionary match number of shares settled										93,736	52,130
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Dividend yield										0.00%	0.00%
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total fair value of vested										$ 4,400
Unrecognized stock-based compensation expense						$ 24,900				$ 24,900				$ 24,900
Unrecognized stock-based compensation expense, weighted-average period for recognition										2 years
2019 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares authorized for issuance													2,231,739
Stock options, granted													1,400,528
Number of shares available for issuance				0
2019 Equity Incentive Plan | Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock awards, granted													16,260
2019 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options, granted		1,203,341
Number of shares available for issuance		2,406,622
Annual increase to shares available for issuance percentage of outstanding common stock				5.00%
Equity plan, description										The number of shares initially available for issuance will be increased by (i) the number of shares subject to stock options or similar awards granted under the Existing Incentive Plan that expire or otherwise terminate without having been exercised in full after the effective date of the 2019 Plan and unvested shares issued pursuant to awards granted under the Existing Incentive Plan that are forfeited to or repurchased by the Company after the effective date of the 2019 Plan, with the maximum number of shares to be added to the 2019 Plan pursuant to clause (i) above or equal to 1,416,788 shares, and (ii) an annual increase on January 1 of each calendar year beginning in 2020 and ending in 2029, equal to the lesser of (a) 5% of the shares of common stock outstanding on the final day of the immediately preceding calendar year and (b) such smaller number of shares as determined by the Board of Directors.
Number of shares remain available for issuance, annual increase						2,898,503				2,898,503				2,898,503
Common stock initially reserved for issuance						1,341,277				1,341,277				1,341,277
Share-based compensation incremental expense		$ 2,200
2019 Incentive Award Plan | Performance-Based Stock Units (PSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSUs outstanding						0				0				0
2019 Incentive Award Plan | Stock Options and RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares, granted										3,048,712
Number of shares, cancelled or forfeited										381,110
2019 Incentive Award Plan | Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSUs outstanding						2,909,577				2,909,577		2,653,892		2,909,577
Stock awards, granted										824,312
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance						1,433,220				1,433,220				1,433,220
Annual increase to shares available for issuance percentage of outstanding common stock				1.00%
Equity plan, description										In addition, the number of shares available for issuance under the ESPP will be annually increased on January 1 of each calendar year beginning in 2020 and ending in 2029, by an amount equal to the lesser of: (i) 1% of the shares outstanding on the final day of the immediately preceding calendar year and (ii) such smaller number of shares as is determined by the Board of Directors. As of June 30, 2024, 1,433,220 shares of common stock remain available for issuance, which includes the 119,779 shares sold to employees during the six months ended June 30, 2024 as well as an annual increase of 579,701 shares authorized on January 1, 2024.
Number of shares remain available for issuance, annual increase															579,701
Stock-based compensation cost						$ 600		$ 200		$ 1,100	$ 300
Common stock initially reserved for issuance				270,000		1,433,220				1,433,220				1,433,220
Number of shares issued										119,779
Estimated weighted-average fair value										$ 3.59	$ 2.87
Unrecognized stock-based compensation expense						$ 100				$ 100				$ 100
Unrecognized stock-based compensation expense, weighted-average period for recognition										6 months
Dividend yield										0.00%	0.00%
Underwritten Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued			12,793,750
Common stock, price per share			$ 11.75
Proceeds from issuance initial public offering gross			$ 150,300
Purchase price per share after deducting underwriting discounts and commissions			$ 11.08
Net proceeds after deducting underwriters commission			$ 141,800
Purchase of additional offering expenses			$ 400
At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued						0				0		1,514,219
Proceeds from issuance of shares										$ 0		$ 14,100
Stock issuance costs												$ 400
2023 At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued						0				0
Available equity financing amount										$ 150,000
Employee and Nonemployee Director
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Estimated weighted-average fair value										$ 5.52	$ 5.31
Open Market Sale Agreement with Jefferies LLC | 2023 At-the-Market Offering Program | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate offering price through equity financing	$ 150,000
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued														26,041,380
Number of shares authorized to repurchase					3,373,408
Stock repurchase program, number of shares right lapse					843,352
Remaining number of shares to be repurchased					2,530,056
Stock repurchase program, period in force					48 months
Stock repurchase program expiration period					2023-03
Proceeds from issuance of shares														$ 421,500
Employer discretionary match number of shares settled							93,736		52,130
Common Stock | 2019 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Additional number of shares available for issuance				1,416,788
Common Stock | Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum percentage of eligible compensation contributed by participants				20.00%
Common Stock | IPO and ATM
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued														26,041,380
Proceeds from issuance of shares														$ 421,500
Common Stock | Underwritten Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued			1,668,750					12,793,750
Common Stock | At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued									1,514,219
Common Stock | Founders
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining number of shares to be repurchased						0				0				0