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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
May 31, 2024
May 31, 2017
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
May 23, 2024
Dec. 31, 2023
May 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Offering period   6 months              
Options outstanding (in shares)     13,505,888   13,505,888     12,223,637  
Weighted-average exercise price of stock options outstanding (in dollars per share)     $ 15.37   $ 15.37     $ 15.11  
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                  
Stock-based compensation expense     $ 6,651 $ 4,391 $ 12,204 $ 9,224      
2016 Employee Stock Purchase Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Maximum Employee Subscription Rate   10.00%              
Share-based compensation, number of shares authorized (in shares)   800,000              
Purchase price of common stock percent of the fair market value   85.00%              
Common stock purchased (in shares)         44,129        
StockIncentivePlan2023Member                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized 2,000,000                
Share-based compensation, number of shares authorized (in shares)             6,850,000   4,850,000
Research and Development                  
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                  
Stock-based compensation expense     3,264 2,199 $ 6,093 4,661      
General and Administrative                  
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                  
Stock-based compensation expense     $ 3,387 $ 2,192 $ 6,111 $ 4,563