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Stock-Based Compensation - Schedule of Assumptions to Estimate Fair Value of Stock Options Using Black-Scholes Option Pricing Model (Details) - $ / shares
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Expected volatility, minimum 84.10% 84.60% 82.20% 83.30%
Expected volatility, maximum 85.10% 86.50% 85.10% 86.50%
Risk free rates, minimum 4.30% 3.50% 3.90% 3.50%
Risk free rates, maximum 4.50% 4.10% 4.50% 4.20%
Dividend rate 0.00% 0.00% 0.00% 0.00%
Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Fair value of common stock $ 1.21 $ 2.43 $ 1.21 $ 2.43
Expected term 5 years 6 months 5 years 6 months 5 years 6 months 5 years 6 months
Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Fair value of common stock $ 1.45 $ 5.84 $ 3.12 $ 9.15
Expected term 6 years 1 month 6 days 6 years 1 month 6 days 6 years 1 month 6 days 6 years 1 month 6 days