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Stock-Based Compensation - Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 28, 2024 | Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of common shares reserved and autorized for future issuance | 14,819,122 |  | 14,819,122 |  |  | 12,196,331
Number of options to purchase common stock | 6,956,497 |  | 6,956,497 |  |  | 5,982,464
Number of option to purchase restricted common stock | 3,053,833 |  | 3,053,833 |  |  | 3,631,431
Fair value of common stock per share |  |  |  |  | $ 3.31 |
Weighted-average grant-date fair value of options granted | $ 3.57 | $ 2.04 | $ 3.9 | $ 3.04 |  |
Aggregate intrinsic value of stock options exercised |  | $ 100 | $ 300 | $ 100 |  |
Gross unrecognized stock-based compensation expense | $ 11,100,000 |  | $ 11,100,000 |  |  |
Unrecognized stock-based compensation expense weighted average amortized period |  |  | 2 years 1 month 6 days |  |  |
Number of restricted stock units granted |  |  | 1,283,412 |  |  |
Stock-based compensation expense | 2,871,000 | $ 3,668,000 | $ 7,191,000 | $ 8,552,000 |  |
Restricted Stock Units ('RSU') |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized stock-based compensation expense weighted average amortized period |  |  | 2 years 9 months 18 days |  |  |
Gross unrecognized stock-based compensation expense | 7,800,000 |  | $ 7,800,000 |  |  |
Issuance of restricted common stock, net of tax withholdings, (Shares) |  |  | 1,528,474 |  |  |
Restricted common stock shares issued, gross |  |  | 1,591,819 |  |  |
Maximum |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Aggregate intrinsic value of stock options exercised | $ 100,000 |  |  |  |  |
2022 Equity Inducement Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for future issuance | 76,944 |  | 76,944 |  |  |
2021 Equity Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for future issuance | 970,100 |  | 970,100 |  |  |
2019 Equity Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for future issuance | 132,051 |  | 132,051 |  |  |
2021 Employee Stock Purchase Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for future issuance | 615,603 |  | 615,603 |  |  |
Number of shares issued | 59,882 |  | 59,882 |  |  |
Apexigen Equity Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for future issuance | 399,688 |  | 399,688 |  |  |

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