Stockholders' Equity - Schedule of Common Stock Reserved for Issuance (Details) - shares	Mar. 31, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Common stock reserved for issuance (in shares)	26,610,595	24,145,170
Common stock issuable upon conversion of convertible notes
Class Of Stock [Line Items]
Common stock reserved for issuance (in shares)	9,964,247	9,964,247
Stock options, restricted stock units and performance stock units issued and outstanding
Class Of Stock [Line Items]
Common stock reserved for issuance (in shares)	12,525,389	10,909,831
Reserved for future stock awards or option grants
Class Of Stock [Line Items]
Common stock reserved for issuance (in shares)	2,612,900	2,230,264
Reserved for employee stock purchase plan
Class Of Stock [Line Items]
Common stock reserved for issuance (in shares)	1,508,059	1,040,828