Stock-Based Compensation - Summary of Activity of Options to Purchase Common Stock (Details) - USD ($)	6 Months Ended	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2023	Dec. 31, 2022
Service-Based Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding		4,230,182
Number of Shares, Granted		2,540,470
Number of Shares, Exercised		(264,377)	(65,431)
Number of Shares, Forfeited		(435,388)
Number of Shares, Expired		(72,642)
Number of Shares, Outstanding		5,998,245	4,230,182
Number of Shares, Vested and exercisable		2,368,123
Number of Shares, Vested and expected to vest		5,998,245
Weighted-Average Grant Date Fair Value, Outstanding		$ 5.19
Weighted-Average Grant Date Fair Value, Granted		7.06
Weighted-Average Grant Date Fair Value, Exercised		3.02
Weighted-Average Grant Date Fair Value, Forfeited		5.53
Weighted-Average Grant Date Fair Value, Expired		6.94
Weighted-Average Grant Date Fair Value, Outstanding		6.03	$ 5.19
Weighted-Average Grant Date Fair Value, Vested and exercisable		5.21
Weighted-Average Grant Date Fair Value, Vested and expected to vest		6.03
Weighted-Average Exercise Price Per Share, Outstanding		7.38
Weighted-Average Exercise Price Per Share, Granted		10.54
Weighted-Average Exercise Price Per Share, Exercised		3.45
Weighted-Average Exercise Price Per Share, Forfeited		8.16
Weighted-Average Exercise Price Per Share, Expired		10.83
Weighted-Average Exercise Price Per Share, Outstanding		8.79	$ 7.38
Weighted-Average Exercise Price Per Share, Vested and exercisable		7.28
Weighted-Average Exercise Price Per Share, Vested and expected to vest		$ 8.79
Weighted-Average Remaining Contractual Term, Outstanding		8 years 4 months 13 days	7 years 7 months 20 days
Weighted-Average Remaining Contractual Term, Vested and exercisable		7 years 9 months 25 days
Weighted-Average Remaining Contractual Term, Vested and expected to vest		8 years 4 months 13 days
Aggregate Intrinsic Value, Outstanding		$ 1,082	$ 24,853
Aggregate Intrinsic Value, Vested and exercisable		877
Aggregate Intrinsic Value, Vested and expected to vest		$ 1,082
Performance-Based Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding		210,629
Number of Shares, Granted	229,019	0	0
Number of Shares, Exercised		0	0
Number of Shares, Outstanding		210,629	210,629
Number of Shares, Vested and exercisable		134,289
Number of Shares, Vested and expected to vest		210,629
Weighted-Average Grant Date Fair Value, Outstanding		$ 2.76
Weighted-Average Grant Date Fair Value, Outstanding		2.76	$ 2.76
Weighted-Average Grant Date Fair Value, Vested and exercisable		2.76
Weighted-Average Grant Date Fair Value, Vested and expected to vest		2.76
Weighted-Average Exercise Price Per Share, Outstanding		1.89
Weighted-Average Exercise Price Per Share, Outstanding		1.89	$ 1.89
Weighted-Average Exercise Price Per Share, Vested and exercisable		1.89
Weighted-Average Exercise Price Per Share, Vested and expected to vest		$ 1.89
Weighted-Average Remaining Contractual Term, Outstanding		6 years 10 months 17 days	7 years 10 months 17 days
Weighted-Average Remaining Contractual Term, Vested and exercisable		6 years 10 months 17 days
Weighted-Average Remaining Contractual Term, Vested and expected to vest		6 years 10 months 17 days
Aggregate Intrinsic Value, Outstanding		$ 314	$ 2,235
Aggregate Intrinsic Value, Vested and exercisable		200
Aggregate Intrinsic Value, Vested and expected to vest		$ 314