Commitment and Contingencies - Narrative (Details) $ in Thousands	1 Months Ended	12 Months Ended
	Jun. 30, 2022	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Jan. 31, 2022 USD ($) ft²	Feb. 28, 2019 ft²
Loss Contingencies [Line Items]
Operating lease right-of-use assets		$ 9,952	$ 11,650
Letter of Credit
Loss Contingencies [Line Items]
Borrowing capacity				$ 388
South San Francisco, California
Loss Contingencies [Line Items]
Term of contract					5 years
Area of property (in sqft) | ft²					9,780
Expiration date	Jan. 31, 2023	Feb. 29, 2024
Operating lease right-of-use assets		$ 9,952	11,650
Present value of operating lease obligations		10,112	11,744
Rent expense		$ 2,738	$ 1,445
Brisbane, California
Loss Contingencies [Line Items]
Term of contract				8 years
Area of property (in sqft) | ft²				20,116