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Stockholders' Equity - Schedule of Shares of Common Stock Available for Future Issuance (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class Of Stock [Line Items]    
Total available for future issuance 24,754,982 21,557,121
Stock Options Outstanding    
Class Of Stock [Line Items]    
Total available for future issuance 6,891,349 4,686,577
Rsus And Psus Outstanding    
Class Of Stock [Line Items]    
Total available for future issuance 1,508,546 987,550
Equity Incentive Plan    
Class Of Stock [Line Items]    
Total available for future issuance 2,600,491 1,790,684
Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Total available for future issuance 1,207,607 1,207,607
Warrants To Purchase Common Stock    
Class Of Stock [Line Items]    
Total available for future issuance 10,075,092 10,412,806
Pre-funded Warrants To Purchase Common Stock    
Class Of Stock [Line Items]    
Total available for future issuance 1,881,081 1,881,081
Conversion Feature Related To Outstanding Term Loan    
Class Of Stock [Line Items]    
Total available for future issuance 590,816 590,816