Net Loss Per Share - Schedule of Weighted-average Shares Outstanding Used to Calculate Basic and Diluted Net Loss Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
The Weighted-average Shares Outstanding Used To Calculate Basic And Diluted Net Loss Per Share [Line Items]
Weighted-average shares used to compute net loss per share, basic	71,172,870	34,806,349	20,098,340
Weighted-average shares used to compute net loss per share, diluted	71,172,870	34,806,349	20,098,340
Common Stock
The Weighted-average Shares Outstanding Used To Calculate Basic And Diluted Net Loss Per Share [Line Items]
Weighted-average shares used to compute net loss per share, basic	70,310,671	31,767,914	20,098,340
Weighted-average shares used to compute net loss per share, diluted	70,310,671	31,767,914	20,098,340
Pre-funded Warrants
The Weighted-average Shares Outstanding Used To Calculate Basic And Diluted Net Loss Per Share [Line Items]
Weighted-average shares used to compute net loss per share, basic	862,199	3,038,435
Weighted-average shares used to compute net loss per share, diluted	862,199	3,038,435