Equity Incentive Plans - Schedule of Fair Value of Options Granted to Employees and Nonemployees Estimated using Black-Scholes Valuation Model using the Assumptions (Details) - Employee Stock Option	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected volatility, minimum	92.90%	91.00%	92.90%	91.00%
Expected volatility, maximum	94.00%	92.00%	94.00%	95.00%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Risk-free interest rate		3.90%		3.90%
Risk-free interest rate, minimum	3.50%		3.50%
Risk-free interest rate, maximum	4.40%		4.40%
Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term (in years)	5 years 9 months 7 days	5 years 10 months 24 days	5 years 9 months 7 days	5 years 10 months 24 days
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	6 years 29 days	6 years 1 month 6 days