Financial Instruments - Summary of Financial assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash	$ 21,799	$ 17,980
Adjusted Cost	221,115	327,397
Unrealized Gain	170
Unrealized Losses	(257)	(3,585)
Fair Value	221,028	323,812
Cash and cash equivalents	38,547	67,420
Marketable Securities	182,481	256,392
Financial liabilities, Fair value	6,772	90
Level 1 | Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	6,266	44,443
Fair Value	6,266	44,443
Cash and cash equivalents	6,266	44,443
Level 2
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	193,050	264,974
Unrealized Gain	170
Unrealized Losses	(257)	(3,585)
Fair Value	192,963	261,389
Cash and cash equivalents	10,482	4,997
Marketable Securities	182,481	256,392
Level 2 | U.S. Government securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	35,962	65,493
Unrealized Gain	8
Unrealized Losses	(97)	(1,518)
Fair Value	35,873	63,975
Marketable Securities	35,873	63,975
Level 2 | U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	18,323	14,953
Unrealized Gain	1
Unrealized Losses	(14)	(111)
Fair Value	18,310	14,842
Cash and cash equivalents	10,482	0
Marketable Securities	7,828	14,842
Level 2 | Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	38,491	40,859
Unrealized Gain	25
Unrealized Losses	(16)	(100)
Fair Value	38,500	40,759
Cash and cash equivalents	0	4,997
Marketable Securities	38,500	35,762
Level 2 | Corporate bonds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	100,274	143,669
Unrealized Gain	136
Unrealized Losses	(130)	(1,856)
Fair Value	100,280	141,813
Marketable Securities	100,280	141,813
Level 3 | Warrant liabilities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Financial liabilities, Adjusted cost	6,772	90
Financial liabilities, Fair value	$ 6,772	$ 90