Capital Structure - Schedule of Reserved Common Stock for Future Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	8,720,898	7,483,830
Stock Options, Issued and Outstanding
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	7,357,607	5,341,975
Stock Options, Authorized for Future Issuance
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	799,485	1,446,872
Employee Stock Purchase Plan, Available for Future Issuance
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	451,886	402,747
Restricted Stock, Issued and Outstanding
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	111,920	292,236