Balance Sheet Items - Summary of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property and equipment	$ 1,865	$ 2,421
Less accumulated depreciation	(1,025)	(1,361)
Property and equipment—net	840	1,060
Computer equipment and software
Property, Plant and Equipment [Line Items]
Property and equipment	169	168
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property and equipment	328	310
Lab equipment
Property, Plant and Equipment [Line Items]
Property and equipment	1,133	1,061
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment	$ 235	$ 882