Balance Sheet Components - Summary of Marketable Securities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	$ 96,839	$ 82,022
Unrealized Gains	15	19
Unrealized Loss	(19)	(28)
Fair Value	96,835	82,013
Commercial paper
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	50,975	63,483
Unrealized Gains	3	0
Unrealized Loss	(16)	0
Fair Value	50,962	63,483
Agency debt securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	2,997	5,762
Unrealized Gains	0	17
Unrealized Loss	(2)	0
Fair Value	2,995	5,779
U.S. Treasury and government debt securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	42,867	12,777
Unrealized Gains	12	2
Unrealized Loss	(1)	(28)
Fair Value	$ 42,878	$ 12,751