Stock-Based Compensation - Schedule of option activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Options
Options, beginning balance (in shares)	4,209,255
Options, granted (in shares)	1,462,535
Options, exercised (in shares)	(135,254)
Options, forfeited (in shares)	(594,372)
Options, ending balance (in shares)	4,942,164	4,209,255
Options, vested and expected to vest (in shares)	4,787,518
Options, exercisable (in shares)	2,696,018
Weighted average exercise price
Weighted average exercise price, beginning balance (in dollars per share)	$ 8.29
Weighted average exercise price, granted (in dollars per share)	3.41
Weighted average exercise price, exercised (in dollars per share)	3.26
Weighted average exercise price, forfeited (in dollars per share)	6.41
Weighted average exercise price, ending balance (in dollars per share)	7.21	$ 8.29
Weighted average exercise price, vested and expected to vest (in dollars per share)	7.27
Weighted average exercise price, exercisable (in dollars per share)	$ 8.34
Weighted average remaining contract life
Weighted average remaining contract life, outstanding	7 years 7 months 13 days	8 years 25 days
Weighted average remaining contract life, vested and expected to vest	7 years 5 months 19 days
Weighted average remaining contract life, exercisable	6 years 5 months 19 days