Summary of Significant Accounting Policies - Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share (Details) - shares shares in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	15,735	11,624
Common stock options
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	13,485	10,973
Restricted stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	1,415	607
Performance stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	750	0
Employee Stock Purchase Plan shares pending issuance
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	85	44