Equity Incentive Plans - Summary of Option Activity (Details) - 2020 and 2021 Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Outstanding beginning period	7,755,303
Number of Options, Granted	3,223,400
Number of Options, exercised	(101,900)
Number of Options, cancelled	(5,500,430)
Number of Options, Outstanding ending period	5,376,373	7,755,303
Number of Options, Exercisable	3,812,992
Number of Options, Vested and expected to vest	5,376,373
Weighted Average Exercise Price Per Share, outstanding beginning period	$ 8.47
Weighted Average Exercise Price Per Share, granted	2.22
Weighted Average Exercise Price Per Share, exercised	0.98
Weighted Average Exercise Price Per Share, cancelled	6.79
Weighted Average Exercise Price Per Share, outstanding ending period	6.58	$ 8.47
Weighted Average Exercise Price Per Share, exercisable	6.42
Weighted Average Exercise Price Per Share, Vested and expected to vest	$ 6.58
Weighted Average Remaining Contractual Term, Outstanding	6 years 1 month 6 days	8 years 8 months 12 days
Weighted Average Remaining Contractual Term, exercisable	5 years 2 months 12 days
Weighted Average Remaining Contractual Term, Vested and expected to vest	6 years 1 month 6 days
Aggregate Intrinsic Value, Outstanding	$ 847	$ 794
Aggregate Intrinsic Value, Exercisable	664
Aggregate Intrinsic Value, Vested and expected to vest	$ 847