Equity Incentive Plan and Stock-Based Compensation - Summary of Stock Plan Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]
Total Options outstanding, Beginning balance	2,796,241
Total Options outstanding, Granted	1,224,932
Total Options Outstanding, Exercised	(15,000)
Total Options Outstanding, Forfeited	(75,867)
Total Options outstanding, Ending balance	3,930,306	2,796,241
Total Options Outstanding, Exercisable	1,847,955
Weighted average exercise price, Beginning balance	$ 10.13
Weighted average exercise price, Granted	12.48
Weighted average exercise price, Exercised	6.6
Weighted average exercise price, Forfeited	11.08
Weighted average exercise price, Ending balance	10.86	$ 10.13
Weighted Average Exercise Price per Share, Exercisable	$ 9.34
Weighted Average Remaining Contractual Life, Outstanding	8 years 1 month 20 days	8 years 9 months 21 days
Weighted Average Remaining Contractual Life, Exercisable	7 years 6 months 10 days
Aggregate Intrinsic Value, Outstanding	$ 37,853	$ 5,793
Aggregate Intrinsic Value, Exercisable	$ 20,612