Net Loss Per Share - Summary of Potential Common Shares Excluded from Computation of Diluted Net Loss per Share (Details) - shares	9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	18,784,955	16,788,371
Options to Purchase Common Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	12,426,235	10,518,779
Common stock issuable upon conversion of Loan Agreement
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	6,269,592	6,269,592
Potential shares issuable under the ESPP
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	89,128