Stock-based Compensation - Additional Information (Details) - USD ($) $ in Thousands	1 Months Ended	12 Months Ended
	Sep. 30, 2020	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected dividend yield		0.00%
Fair value of options granted		$ 9,800	$ 16,300
Fair value of restricted stock units granted		500	100
Fair value of options vested		9,800	6,800
Aggregate intrinsic value of options exercised		200	3,000
Unrecognized compensation cost		$ 16,000
Remaining weighted-average period expected to recognize unrecognized compensation cost		1 year 11 months 26 days
Stock-based compensation expense		$ 10,623	10,606
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issued common stock, share under employee stock purchase plan		166,682
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Terms of award		Under the ESPP, eligible employees can authorize payroll deductions for amounts up to the lesser of 15% of their qualifying wages or the statutory limit under the U.S. Internal Revenue Code. The ESPP provides for offering periods of six months in duration with one purchase period per offering period beginning May 18 and November 18 of each year.
Offering periods	6 months
Percentage of fair market value of common shares	85.00%
Stock-based compensation expense		$ 100	$ 200
Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum percentage of payroll deductions for qualifying wages or statutory limit	15.00%
Shares of common stock purchased by each participant		10,000