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Equity Incentive Plan and Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2024
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]    
Total Options outstanding, Beginning balance 3,930,306  
Total Options outstanding, Granted 1,471,199  
Total Options Outstanding, Exercised (28,930)  
Total Options Outstanding, Forfeited (524,026)  
Total Options outstanding, Ending balance 4,848,549 3,930,306
Total Options Outstanding, Exercisable 2,773,130  
Weighted average exercise price, Beginning balance $ 10.86  
Weighted average exercise price, Granted 2.63  
Weighted average exercise price, Exercised 7.78  
Weighted average exercise price, Forfeited 8.78  
Weighted average exercise price, Ending balance 8.61 $ 10.86
Weighted Average Exercise Price per Share, Exercisable $ 9.36  
Weighted Average Remaining Contractual Life, Outstanding 6 years 6 months 14 days 8 years 1 month 20 days
Weighted Average Remaining Contractual Life, Exercisable 5 years 5 months 12 days  
Aggregate Intrinsic Value, Outstanding $ 176 $ 37,853
Aggregate Intrinsic Value, Exercisable $ 176