Consolidated Statements of Preferred Stock and Stockholders' Equity/(Deficit) (Unaudited) - USD ($)	Total	Series A Convertible Preferred Stock [Member]	Common Stock [Member]	Additional Paid-In Capital [Member]	Preferred Stock [Member]	Accumulated Other Comprehensive Gain (Loss) [Member]	Accumulated Deficit [Member]
Balance at Dec. 31, 2021	$ 336,173,000		$ 7,000	$ 488,200,000		$ (138,000)	$ (151,896,000)
Balance (in shares) at Dec. 31, 2021			72,438,742		0
Exchange of common stock for Series A Common Stock Equivalent Convertible Preferred Stock, shares			(2,500,000)		2,500
Vesting of common stock issued for early exercise of stock options	705,000			705,000
Vesting of common stock issued for early exercise of stock options (in shares)			1,015,695
Issuance of common stock in connection with exercise of stock options	172,000			172,000
Issuance of common stock in connection with exercise of stock options (in shares)			385,824
Stock-based compensation	13,669,000			13,669,000
Unrealized gain (loss) on available- for-sale marketable securities	(699,000)				$ 0	(699,000)
Issuance of common stock in connection with Employee Stock Purchase Program (in shares)			514,427
Issuance of common stock in connection with Employee Stock Purchase Program	1,180,000			1,180,000
Net Income (Loss)	(90,879,000)						(90,879,000)
Balance at Dec. 31, 2022	260,321,000		$ 7,000	503,926,000	2,500	(837,000)	(242,775,000)
Balance (in shares) at Dec. 31, 2022			71,854,688
Temporary equity, Balance (in shares) at Dec. 31, 2022		2,500
Vesting of common stock issued for early exercise of stock options	394,000			394,000
Vesting of common stock issued for early exercise of stock options (in shares)			471,035
Issuance of common stock in connection with exercise of stock options	$ 13,000			13,000
Issuance of common stock in connection with exercise of stock options (in shares)	23,479		23,479
Stock-based compensation	$ 11,404,000			11,404,000
Unrealized gain (loss) on available- for-sale marketable securities	992,000					992,000
Issuance of common stock in connection with vesting of restricted stock units			415,528
Issuance of common stock in connection with Employee Stock Purchase Program (in shares)			1,058,431
Issuance of common stock in connection with Employee Stock Purchase Program	702,000			702,000
Net Income (Loss)	(94,820,000)						(94,820,000)
Balance at Dec. 31, 2023	$ 179,006,000		$ 7,000	$ 516,439,000	$ 2,500	$ 155,000	$ (337,595,000)
Balance (in shares) at Dec. 31, 2023			73,823,161