Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	19,040,918	14,834,109
Common Stock Options Outstanding
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	9,655,464	7,989,192
RSUs Outstanding
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	17,500	0
Shares Available for Issuance Under Plans
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	5,386,938	5,198,941
Shares Available for Issuance Under ESPP
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	1,542,307	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