Stockholders’ Equity and Stock-based Compensation - ESPP (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 24,982	$ 31,145
Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	12,013	14,974
General and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 12,969	$ 16,171
The ESPP | Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividend	0.00%	0.00%
Total stock-based compensation expense	$ 568	$ 1,121
The ESPP | Employee stock purchase plan | Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	399	845
The ESPP | Employee stock purchase plan | General and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 169	$ 276
Minimum | The ESPP | Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 months	5 months 26 days
Expected volatility	70.74%	56.55%
Risk-free interest rate	4.40%	0.22%
Maximum | The ESPP | Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	2 years	2 years
Expected volatility	82.61%	87.15%
Risk-free interest rate	5.53%	2.84%