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Stockholders' Equity - Schedule of Number of Shares of Common Stock Reserved for Future Issuance (Details) - shares
Dec. 31, 2023
Dec. 31, 2022
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 12,310,790 9,272,305
Stock options issued and outstanding    
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 9,383,105 6,203,020
Stock options and restricted stock units available for future grant    
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 2,473,485 2,871,705
Unvested restricted stock units    
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 454,200 197,580