Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2024	Dec. 31, 2023
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	19,359,074	14,834,109
Common Stock Options Outstanding
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	9,850,776	7,989,192
Shares Available for Issuance Under Plans
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	5,464,212	5,198,941
Shares Available for Issuance Under ESPP
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	1,605,377	1,142,750
Pre-funded Common Stock Warrants Outstanding
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	2,438,709	503,226