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, 2024	Sep. 30, 2024	Jun. 30, 2024	Mar. 31, 2024	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Numerator:
Net loss	$ (29,302)	$ (32,787)	$ (37,276)	$ (39,061)	$ (34,884)	$ (28,429)	$ (24,891)	$ (29,051)	$ (138,426)	$ (117,255)	$ (81,828)
Denominator:
Weighted-average common shares outstanding, basic	36,265,001	36,220,736	36,043,561	35,890,370	35,754,165	35,653,988	35,348,293	29,586,468	36,105,671	34,106,923	29,271,777
Weighted-average common shares outstanding, diluted	36,265,001	36,220,736	36,043,561	35,890,370	35,754,165	35,653,988	35,348,293	29,586,468	36,105,671	34,106,923	29,271,777
Net loss per share, basic	$ (0.81)	$ (0.91)	$ (1.03)	$ (1.09)	$ (0.98)	$ (0.8)	$ (0.7)	$ (0.98)	$ (3.83)	$ (3.44)	$ (2.80)
Net loss per share, diluted	$ (0.81)	$ (0.91)	$ (1.03)	$ (1.09)	$ (0.98)	$ (0.8)	$ (0.7)	$ (0.98)	$ (3.83)	$ (3.44)	$ (2.80)