Commitments and Contingencies - Additional Information (Details)	1 Months Ended						6 Months Ended
	Jun. 30, 2024 Option	Oct. 31, 2023	May 31, 2022	Nov. 30, 2021	Feb. 28, 2021 RenewalOption	Dec. 31, 2016 RenewalOption	Jun. 30, 2024	Dec. 31, 2023
Commitments And Contingencies [Line Items]
Weighted-average remaining lease term	5 years						5 years	5 years 1 month 6 days
Weighted-average discount rate	8.80%						8.80%	9.30%
Union City Facility
Commitments And Contingencies [Line Items]
Number of lease renewal term | RenewalOption					1
Lease renewal term					5 years
Lease commenced month and year					2021-05
Term of lease					10 years
Office and Laboratory Space | South San Francisco, California
Commitments And Contingencies [Line Items]
Lease initial expiration month and year						2025-05
Number of lease renewal term | RenewalOption						2
Lease renewal term						5 years
Lessee, Operating Lease, Existence of Option to Extend [true false]	true
Lease, option to extend							In June 2024, the Company entered the First Amendment to the lease. Under the First Amendment, the Company extended the term of the lease from June 2025 through November 2027.
Lease expiration month and year, start	2025-06
Lease expiration month and year, end	2027-11
Number of renewal options | Option	2
Number of option remaining to extend the lease term | Option	1
Lessee, option to extend term	5 years
Additional Office and Laboratory Space | South San Francisco, California
Commitments And Contingencies [Line Items]
Lease Expiration Date			Dec. 31, 2022	Jun. 30, 2022
Second Amendment | South San Francisco, California
Commitments And Contingencies [Line Items]
Lease Expiration Date		Nov. 30, 2024