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Consolidated Statements of Cash Flows - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Operating activities:    
Net loss $ (134,237) $ (141,947)
Adjustments to reconcile net loss to net cash used in operating activities:    
Depreciation and amortization 2,148 2,106
Accretion of (discount) premium on available-for-sale securities (2,550) 73
Stock-based compensation 18,183 18,516
Reduction in the carrying amount of right-of-use assets 1,119 1,205
Changes in operating assets and liabilities:    
Prepaid expenses and other current assets 1,352 (463)
Accounts payable (2,077) (287)
Accrued liabilities (3,438) 6,178
Operating lease liabilities (1,503) (1,731)
Other current liabilities (139) 41
Net cash used in operating activities (121,142) (116,309)
Investing activities:    
Purchases of property and equipment (193) (6,526)
Purchases of available-for-sale securities (108,088) (113,197)
Proceeds from maturities of available-for-sale securities 178,984 178,166
Net cash provided by investing activities 70,703 58,443
Financing activities:    
Proceeds from the exercise of common stock options 90 80
Proceeds from Employee Stock Purchase Plan purchases 479 340
Proceeds from the issuance of common stock, pre-funded warrants and common warrants, including related party of $17,995 and $9,500 for the years ended December 31, 2023 and 2022, respectively 17,995 130,476
Proceeds from the issuance of common stock, pre-funded warrants and common warrants, including related party of $948, net of commissions 117,515  
Payment of financing costs (555) (7,988)
Net cash provided by financing activities 135,524 122,908
Increase in cash, cash equivalents and restricted cash 85,085 65,042
Effect of exchange rate changes on cash, cash equivalents and restricted cash 5 1
Cash, cash equivalents and restricted cash    
Beginning of period 141,052 76,009
End of period 226,142 141,052
Supplemental disclosure of cash flow information:    
Cash paid for amounts included in the measurement of lease liability 4,728 10,078
Non-cash investing and financing activities:    
Deferred offering costs included in accounts payable and accrued liabilities $ 483  
Purchases of property and equipment included in accounts payable and accrued liabilities   $ 110