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Basis of Presentation and Summary of Significant Accounting Policies - Additional Information (Details)
 1 Months Ended 3 Months Ended 9 Months Ended
Sep. 30, 2024
USD ($)
Jul. 31, 2024
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Sep. 30, 2024
USD ($)
Jun. 30, 2024
USD ($)
Mar. 31, 2024
USD ($)
Sep. 30, 2023
USD ($)
Jun. 30, 2023
USD ($)
Mar. 31, 2023
USD ($)
Sep. 30, 2024
USD ($)
Segment
Sep. 30, 2023
USD ($)
Dec. 31, 2023
USD ($)
Accounting Policies [Line Items]                          
Net loss         $ 12,747,000 $ 14,435,000 $ 16,617,000 $ 16,707,000 $ 15,804,000 $ 15,323,000 $ 43,800,000 $ 47,800,000  
Cash flows used in operating activities                     43,984,000 36,220,000  
Accumulated deficit $ 198,254,000       198,254,000           198,254,000   $ 154,455,000
Cash cash equivalents and investments 93,400,000       93,400,000           $ 93,400,000    
Number of operating segments | Segment                     1    
Number of reportable Segments | Segment                     1    
Assumed dividend yield                     $ 0    
Cash and cash equivalents 33,504,000       33,504,000           33,504,000   15,647,000
Investments 59,900,000       $ 59,900,000           59,900,000   $ 118,800,000
Maximum amount eligible to receive under cost-reimbursement contract award       $ 17,800,000                  
Net unrealized gain (loss) on available-for-sale investments                     $ (200,000) $ 300,000  
UGARF                          
Accounting Policies [Line Items]                          
Grant award amount   $ 200,000   $ 1,400,000                  
BMGF                          
Accounting Policies [Line Items]                          
Grant award amount $ 2,000,000   $ 1,800,000