Equity Incentive Plan - Schedule of Fair Value of Options Granted to Employees and Nonemployees Estimated at the Grant Date using the Assumptions (Details) - Employee Stock Option	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected volatility	93.00%	95.00%
Expected dividend yield	0.00%	0.00%
Risk-free interest rate, minimum	4.10%	3.60%
Risk-free interest rate, maximum	4.20%	3.70%
Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term (in years)	6 years 25 days	6 years
Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 1 month 6 days