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Description of Business - Additional Information (Details) - USD ($)
$ in Millions
 1 Months Ended 12 Months Ended
Jan. 31, 2023
Dec. 31, 2023
Description Of Business [Line Items]    
Entity incorporation, date of Incorporation   Mar. 31, 2011
Entity reincorporation, date of reincorporation   Oct. 27, 2015
Net cash proceeds from issuance of convertible preferred stock, common stock warrants, and convertible notes   $ 407.4
Cash, cash equivalents, and investments   $ 147.4
At The Market Common Stock Offering    
Description Of Business [Line Items]    
Number of shares issued and sold 0  
At The Market Common Stock Offering | Maximum    
Description Of Business [Line Items]    
Aggregate proceeds from issuance of common stock $ 75.0