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Stock Incentive Plans - Summary of Weighted-Average Assumptions Used to Estimated Fair Values of Share-Based Awards (Details)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Employee stock purchase plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 6 months 6 months
Expected volatility 75.91% 77.88%
Risk-free interest rate 5.38% 4.94%
Expected dividend yield 0.00% 0.00%
Employee stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years)   6 years
Expected volatility   78.63%
Risk-free interest rate   3.46%
Expected dividend yield   0.00%