Equity Incentive Plan - Summary of Fair Value of Option Grant on Grant Date and Employee Stock Purchase Plan Using Black-Scholes Option Pricing Model and Market Based Stock Option Grants Monte Carlo Simulation Model (Details)	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023
Share-based Payment Arrangement, Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	4.20%	3.60%
Dividend yield	0.00%	0.00%
Volatility	74.90%	67.40%
Share-based Payment Arrangement, Option | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected life	6 years	6 years
Share-based Payment Arrangement, Option | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected life	10 years	10 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	5.40%	5.10%
Dividend yield	0.00%	0.00%
Volatility	83.60%	97.10%
Expected life	6 months	6 months