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Stock-based Compensation - Schedule of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Number of Shares Underlying Outstanding Options    
Number of shares underlying outstanding options, beginning balance (in shares) | shares 1,871,649  
Number of shares underlying outstanding options, options exercised (in shares) | shares (76,860)  
Number of shares underlying outstanding options, options cancelled (in shares) | shares (6,705)  
Number of shares underlying outstanding options, ending balance (in shares) | shares 1,788,084 1,871,649
Number of shares underlying outstanding options, vested and expected to vest (in shares) | shares 1,788,084  
Number of shares underlying outstanding options, exercisable (in shares) | shares 1,659,069  
Weighted- Average Exercise Price per Share    
Weighted average exercise price, beginning balance (in dollars per share) | $ / shares $ 7.36  
Weighted average exercise price, options exercised (in dollars per share) | $ / shares 1.19  
Weighted average exercise price, options cancelled (in dollars per share) | $ / shares 16.49  
Weighted average exercise price, ending balance (in dollars per share) | $ / shares 7.56 $ 7.36
Weighted average exercise price, options vested and expected to vest (in dollars per share) | $ / shares 7.56  
Weighted average exercise price, options exercisable (in dollars per share) | $ / shares $ 7.51  
Weighted- Average Remaining Contractual Term (in years)    
Stock options outstanding, weighted average remaining contractual term 6 years 2 months 8 days 6 years 8 months 19 days
Stock options vested and expected to vest, weighted average remaining contractual term 6 years 2 months 8 days  
Stock options exercisable, weighted average remaining contractual term 6 years 2 months 8 days  
Aggregate Intrinsic Value    
Stock options outstanding, aggregate intrinsic value, beginning balance | $ $ 6,191  
Stock options outstanding, aggregate intrinsic value, ending balance | $ 7,930 $ 6,191
Stock options vested and expected to vest, aggregate intrinsic value | $ 7,930  
Stock options exercisable, aggregate intrinsic value | $ $ 7,421