Balance Sheet Components - Summary of Accrued Expense and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2024	Dec. 31, 2023
Accrued Liabilities, Current [Abstract]
Accrued research and development materials and services	$ 9,700	$ 6,952
Accrued personnel expenses	5,642	5,956
Accrued professional services	405	443
Other	146	192
Total accrued expenses and other current liabilities	$ 15,893	$ 13,543