Net Loss per Share - Summary of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Numerator:
Net loss	$ (34,774)	$ (11,946)	$ (21,612)	$ (46,887)
Denominator:
Weighted-average common shares outstanding-basic	42,445,462	42,089,530	42,339,732	42,065,237
Weighted-average common shares outstanding-diluted	42,445,462	42,089,530	42,339,732	42,065,237
Net loss per share basic	$ (0.82)	$ (0.28)	$ (0.51)	$ (1.11)
Net loss per share diluted	$ (0.82)	$ (0.28)	$ (0.51)	$ (1.11)