Balance Sheet Components - Summary of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued compensation and related expenses	$ 8,700	$ 6,299
Accrued research and development expenses	2,583	3,214
Accrued professional services	743	482
ESPP deduction liability	88	124
Accrued facility management services	185
Other current liabilities	485	545
Total accrued and other current liabilities	$ 12,784	$ 10,664