Stock-Based Compensation - Summary of Fair Value of Stock Options and ESPP Estimated using Weighted-Average Assumptions (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term in years	6 years	6 years	6 years
Expected volatility	79.90%	93.10%	91.00%
Risk-free interest rate	3.80%	3.10%	1.10%
Weighted average fair value of options granted	$ 7.57	$ 5.25	$ 7.28
ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term in years	1 year 3 months 18 days	1 year 3 months 18 days	1 year 3 months 18 days
Expected volatility	80.90%	95.20%	91.30%
Risk-free interest rate	4.90%	2.50%	0.30%