Common Stock - Schedule of Reserved Common Stock for Future Issuances (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Shares reserved for future issuance	17,428,919	13,893,161
Employee Stock Option
Class Of Stock [Line Items]
Shares reserved for future issuance	5,376,373	7,755,303
Shares Available for Future Stock Option Grants
Class Of Stock [Line Items]
Shares reserved for future issuance	10,798,817	5,382,907
ESPP Shares Available for Future Grants
Class Of Stock [Line Items]
Shares reserved for future issuance	1,253,729	754,951