Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	14,834,109	12,173,923
Common Stock Options Outstanding
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	7,989,192	7,345,444
Shares Available for Issuance Under Plans
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	5,198,941	4,012,001
Shares Available for Issuance Under ESPP
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	1,142,750	816,478
Pre-funded Common Stock Warrants
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	503,226	0