Net Loss Per Share - Summary of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (34,884)	$ (28,429)	$ (24,891)	$ (29,051)	$ (25,314)	$ (22,890)	$ (17,258)	$ (16,366)	$ (117,255)	$ (81,828)	$ (41,567)
Denominator:
Weighted-average common shares outstanding, basic	35,754,165	35,653,988	35,348,293	29,586,468	29,441,596	29,319,042	29,196,398	29,126,088	34,106,923	29,271,777	23,858,552
Weighted-average common shares outstanding, diluted	35,754,165	35,653,988	35,348,293	29,586,468	29,441,596	29,319,042	29,196,398	29,126,088	34,106,923	29,271,777	23,858,552
Net loss per share, basic	$ (0.98)	$ (0.8)	$ (0.7)	$ (0.98)	$ (0.86)	$ (0.78)	$ (0.59)	$ (0.56)	$ (3.44)	$ (2.80)	$ (1.74)
Net loss per share, diluted	$ (0.98)	$ (0.8)	$ (0.7)	$ (0.98)	$ (0.86)	$ (0.78)	$ (0.59)	$ (0.56)	$ (3.44)	$ (2.80)	$ (1.74)