Balance Sheet Accounts and Supplemental Disclosures - Schedule of Property and Equipment, net (Details) - USD ($) $ in Thousands	Sep. 30, 2024	Dec. 31, 2023
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 8,198	$ 8,316
Less: accumulated depreciation and amortization	(6,470)	(6,218)
Total property and equipment, net	1,728	2,098
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	6,497	6,473
Office furniture and equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	1,498	1,640
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 203	$ 203