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Stock-Based Compensation - Schedule of Fair Value Assumptions for Stock Options Granted (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Stock Option      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Risk-free interest rate, minimum 3.46% 1.37% 0.42%
Risk-free interest rate, maximum 4.73% 4.23% 1.27%
Expected term (in years)     6 years
Expected Volatility, minimum 82.00% 86.00% 92.00%
Expected Volatility, maximum 96.00% 94.00% 100.00%
Expected dividend yield 0.00% 0.00% 0.00%
ESPP      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Risk-free interest rate   1.63% 0.00%
Risk-free interest rate, minimum 1.63%    
Risk-free interest rate, maximum 5.44%    
Expected term (in years) 6 months 6 months  
Expected volatility   81.00% 0.00%
Expected Volatility, minimum 77.00%    
Expected Volatility, maximum 95.00%    
Expected dividend yield 0.00% 0.00% 0.00%
Estimated fair value of common stock   $ 17.3 $ 0
Minimum | Employee Stock Option      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term (in years) 5 years 6 months 5 years 6 months  
Estimated fair value of common stock $ 9.76 $ 17.5 20.54
Minimum | ESPP      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Estimated fair value of common stock $ 15.85    
Maximum | Employee Stock Option      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term (in years) 6 years 6 years  
Estimated fair value of common stock $ 21.15 $ 46.56 $ 46.68
Maximum | ESPP      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Estimated fair value of common stock $ 20.92