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Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2024
Dec. 31, 2023
Property Plant And Equipment [Line Items]    
Total property and equipment $ 17,909 $ 15,775
Less: Accumulated depreciation and amortization (10,787) (9,611)
Property and equipment, net 7,122 6,164
Laboratory Equipment    
Property Plant And Equipment [Line Items]    
Total property and equipment $ 11,624 11,455
Property and equipment net, useful life 5 years  
Computer Equipment    
Property Plant And Equipment [Line Items]    
Total property and equipment $ 261 261
Property and equipment net, useful life 3 years  
Software    
Property Plant And Equipment [Line Items]    
Total property and equipment $ 231 231
Property and equipment net, useful life 3 years  
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Total property and equipment $ 4,476 3,321
Property and equipment net, useful life Shorter of useful life or lease term  
Furniture and Fixtures    
Property Plant And Equipment [Line Items]    
Total property and equipment $ 1,317 $ 507
Property and equipment net, useful life 5 years