Balance Sheet Details - Summary of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accrued Liabilities, Current [Abstract]
Accrued personnel costs	$ 4,034	$ 3,543
Accrued research and development costs	2,350	2,983
Current portion of operating lease liability, related party	$ 716	$ 640
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Accounts Payable and Other Accrued Liabilities, Current	Accounts Payable and Other Accrued Liabilities, Current
Accrued other	$ 582	$ 585
Total	$ 7,682	$ 7,751