Leases - Additional Information (Details) $ in Thousands	1 Months Ended		12 Months Ended
	Feb. 28, 2022 USD ($) ft²	May 31, 2021 USD ($) ft²	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)
Lessee Lease Description [Line Items]
Finance lease, description			In May 2023, the Company entered into an addendum to extend the existing lease through May 2026 and lease additional number of certain equipment. In October 2023, the Company entered into an additional addendum to lease an additional number of certain equipment through May 2026.
Operating lease ROU assets			$ 4,847	$ 5,626
Option to extend term			no
Total lease payment			$ 6,740
Finance lease ROU assets			$ 2,405	$ 298
Office Space at 323 Allerton Avenue, South San Francisco, California
Lessee Lease Description [Line Items]
Lessee, operating lease commencing end date		Jun. 06, 2021
Lessee operating lease expiration date		Aug. 31, 2026
Operating lease ROU assets		$ 2,000
Area of operating lease | ft²		10,000
Operating lease, description			Company entered into a lease agreement for approximately 10,000 square feet of office space located in South San Francisco, California. The lease commenced on June 6, 2021 and expires on August 31, 2026. The lease does not provide an option to extend after it expires. The total lease payments for the life of the lease are approximately $2.0 million.
Existence of option to extend		false
Option to extend term		no
Office and Laboratory Space Located In Palo Alto, California
Lessee Lease Description [Line Items]
Area of operating lease | ft²	11,074
Existence of option to extend	true
Lease operating lease expiration period	2030-02
Lessee operating lease renewal term	2 years
Lease operating lease commencement period	2022-02
Lease operating lease commencement period for second premises	2022-04
Annual base rent	$ 800
Percentage of increase of annual rent	3.00%
Lessee operating lease leasehold improvements	$ 2,300
Lessee operating lease leasehold improvements additional payments	$ 1,500
Annual interest rate of additional payments over life of lease	7.00%
Total lease payment	$ 6,900
Letter of credit	100
Restricted cash deposits	$ 100
Option to extend term			The lease provides for an option to extend for two years after expiration