Income Taxes - Schedule of Components of Net Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 15,074	$ 12,240
Capitalized research costs	16,635	8,396
Research and development credits	6,996	3,274
Lease liability	641	776
Stock-based compensation	3,255	1,740
Other	810	1,519
Total gross deferred tax assets	43,411	27,945
Valuation allowance	(42,436)	(26,777)
Total deferred tax assets	975	1,168
Deferred tax liabilities:
Right of use asset	(618)	(759)
Other	(357)	(409)
Total deferred tax liabilities	$ (975)	$ (1,168)