Net Loss Per Share - Summary of Potentially Dilutive Shares (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive potentially dilutive shares excluded from computation of diluted net loss per share	3,960,154	4,378,089
Outstanding Stock Options
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive potentially dilutive shares excluded from computation of diluted net loss per share	3,720,455	167,882
Restricted Stock Awards Subject to Repurchase
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive potentially dilutive shares excluded from computation of diluted net loss per share	239,699	529,110
Convertible Preferred Stock
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive potentially dilutive shares excluded from computation of diluted net loss per share		810,700
2022 Convertible Notes
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive potentially dilutive shares excluded from computation of diluted net loss per share		2,870,397