Balance Sheet Components - Summary of Accrued Expense and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Accrued Liabilities, Current [Abstract]
Accrued research and development materials and services	$ 11,561	$ 6,952
Accrued personnel expenses	3,809	5,956
Accrued professional services	461	443
Other	215	192
Total accrued expenses and other current liabilities	$ 16,046	$ 13,543