Stockholders' Equity - Summary of Stock Option Activity (Details) - 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 Outstanding Options, Beginning balance	7,345,444
Number of Outstanding Options, Granted	2,019,450
Number of Outstanding Options, Exercised	(253,545)
Number of Outstanding Options, Forfeited or cancelled	(1,122,157)
Number of Outstanding Options, Ending balance	7,989,192	7,345,444
Number of Outstanding Options, Vested and expected to vest	7,989,192
Number of Outstanding Options, Exercisable	5,226,145
Weighted- Average Exercise Price, Beginning balance	$ 11.67
Weighted- Average Exercise Price, Granted	13.80
Weighted- Average Exercise Price, Exercised	8.86
Weighted- Average Exercise Price, Forfeited or cancelled	13.25
Weighted- Average Exercise Price, Ending balance	12.08	$ 11.67
Weighted- Average Exercise Price, Vested and expected to vest	12.08
Weighted- Average Exercise Price, Exercisable	$ 9.89
Weighted- Average Remaining Contractual Term	7 years 9 months 18 days	8 years 3 months 18 days
Weighted- Average Remaining Contractual Term, Vested and expected to vest	7 years 9 months 18 days
Weighted- Average Remaining Contractual Term, Exercisable	7 years 3 months 18 days
Aggregate Intrinsic Value	$ 16,733	$ 29,806
Aggregate Intrinsic Value, Vested and expected to vest	16,733
Aggregate Intrinsic Value, Exercisable	$ 16,596