Nature of Business and Basis of Presentation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended				6 Months Ended
	Feb. 29, 2024	Jun. 30, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Organization Consolidation And Presentation Of Financial Statements [Line Items]
Net Income (Loss)		$ (47,247)	$ (43,496)	$ (50,228)	$ (35,321)	$ (90,743)	$ (85,549)
Accumulated deficit		$ (822,812)				(822,812)		$ (732,069)
Proceeds from issuance of common stock under the employee stock purchase plan						$ 164	$ 139
Sales Agreement [Member]
Organization Consolidation And Presentation Of Financial Statements [Line Items]
Issuance of common stock, shares	9,000,000
Proceeds from issuance of common stock under the employee stock purchase plan	$ 39,300
Sale of stock, price per share	$ 4.5