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Stockholders' Equity - Schedule of Reserved Shares of Common Stock for Issuance, on an As-Converted Basis (Details) - shares
Jun. 30, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 6,772,928 5,540,696
Stock Options Issued and Outstanding    
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 5,278,975 4,233,203
Unvested Restricted Stock and Performance Stock Units    
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 103,740  
Authorized for Future Stock Awards or Option Grants    
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 968,289 1,091,187
Authorized for Future Issuance under Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 421,924 216,306