Consolidated Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property Plant And Equipment [Line Items]
Total property and equipment	$ 9,078	$ 5,578
Accumulated depreciation and amortization	(4,382)	(3,457)
Property & equipment, net	4,696	2,121
Scientific Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	3,434	3,008
Furniture and Office Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	1,467	1,332
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 4,177	$ 1,238