Balance Sheet Components - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Prepaid Expense and Other Assets, Current [Abstract]
Prepaid research and development	$ 825	$ 1,428
Other receivables	1,739	476
Prepaid other	1,181	151
Total prepaid expenses and other current assets	$ 3,745	$ 2,055