Stockholders' Equity - Schedule of Shares of Common Stock Available for Future Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Total available for future issuance	15,018,954	21,557,121
Stock Options Outstanding
Class Of Stock [Line Items]
Total available for future issuance	7,044,951	4,686,577
Rsus And Psus Outstanding
Class Of Stock [Line Items]
Total available for future issuance	1,452,123	987,550
Equity Incentive Plan
Class Of Stock [Line Items]
Total available for future issuance	2,468,467	1,790,684
Employee Stock Purchase Plan
Class Of Stock [Line Items]
Total available for future issuance	1,181,482	1,207,607
Warrants To Purchase Common Stock
Class Of Stock [Line Items]
Total available for future issuance	1,200,034	10,412,806
Pre-funded Warrants To Purchase Common Stock
Class Of Stock [Line Items]
Total available for future issuance	1,081,081	1,881,081
Conversion Feature Related To Outstanding Term Loan
Class Of Stock [Line Items]
Total available for future issuance	590,816	590,816