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Stock-Based Compensation - Summary 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
Share-Based Payment Arrangement [Abstract]    
Number of Shares, Beginning Balance | shares 10,338,724  
Number of Shares, Granted | shares 2,044,500  
Number of Shares, Exercised | shares (127,996)  
Number of Shares, Forfeited and cancelled | shares (1,462,027)  
Number of Shares, Ending Balance | shares 10,793,201 10,338,724
Number of Shares, Vested and expected to vest | shares 10,793,201  
Number of Shares, Exercisable | shares 4,962,290  
Weighted Average Exercise Price, Beginning balance | $ / shares $ 14.42  
Weighted Average Exercise Price, Granted | $ / shares 3.08  
Weighted Average Exercise Price, Exercised | $ / shares 0.92  
Weighted Average Exercise Price, Forfeited and cancelled | $ / shares 17.18  
Weighted Average Exercise Price, ending balance | $ / shares 12.05 $ 14.42
Weighted Average Exercise Price, Vested and expected to vest | $ / shares 12.05  
Weighted Average Exercise Price, Exercisable | $ / shares $ 12.86  
Weighted Average Contractual Term, Outstanding 7 years 10 months 17 days 8 years 2 months 26 days
Weighted Average Contractual Term,Options vested and expected to vest 7 years 10 months 17 days  
Weighted Average Contractual Term, Options exercisable 6 years 7 months 6 days  
Aggregate Intrinsic Value | $ $ 1,142 $ 1,737
Aggregate Intrinsic Value, Options vested and expected to vest | $ 1,142  
Aggregate Intrinsic Value, Options exercisable | $ $ 821