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Commitments and Contingencies - Narrative (Details) $ in Thousands | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2024 USD ($) | Jun. 30, 2023 USD ($) | Jun. 30, 2024 USD ($) | Jun. 30, 2023 USD ($) | Dec. 31, 2023 USD ($) | Jan. 31, 2022 USD ($) a
Loss Contingencies [Line Items] |  |  |  |  |  |
Operating lease right-of-use assets | $ 9,159 |  | $ 9,159 |  | $ 9,952 |
Letter of Credit |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |
Borrowing capacity |  |  |  |  |  | $ 388
Brisbane, California |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |
Term of contract |  |  |  |  |  | 8 years
Area of property (in sqft) | a |  |  |  |  |  | 20,116
South San Francisco, California |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |
Operating lease right-of-use assets | 9,159 |  | 9,159 |  | 9,952 |
Present value of operating lease obligations | 9,602 |  | 9,602 |  | $ 10,112 |
Rent expense | $ 587 | $ 659 | $ 1,272 | $ 1,369 |  |

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