Summary of Significant Accounting Policies - Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share/Unit (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	14,015	9,357	5,781
Common stock options issued and outstanding
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	12,495	9,352	5,778
Restricted stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	758	0	0
Performance stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	750	0	0
ESPP shares pending issuance
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	12	5	3