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Stock-based Compensation - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Shares, Beginning Balance 4,033,522  
Shares, Granted 3,696,783  
Shares, Exercised (128,534)  
Shares, Forfeited/expired (780,902)  
Shares, Ending Balance 6,820,869 4,033,522
Shares, Expected to vest 4,000,554  
Shares, Options exercisable 2,820,315  
Weighted-Average Exercise price per Share, Beginning Balance $ 11.75  
Weighted-Average Exercise price per Share, Granted 3.34  
Weighted-Average Exercise price per Share, Exercised 1.29  
Weighted-Average Exercise price per Share, Forfeited/expired 6.72  
Weighted-Average Exercise price per Share, Ending Balance 7.97 $ 11.75
Weighted-Average Exercise price per Share, Expected to vest 6.41  
Weighted-Average Exercise price per Share, Options exercisable $ 10.18  
Weighted-Average Remaining Contractual Term (in years) 8 years 2 months 26 days 8 years 4 months 24 days
Weighted-Average Remaining Contractual Term, Expected to vest (in years) 8 years 8 months 19 days  
Weighted-Average Remaining Contractual Term, Options exercisable (in years) 7 years 6 months 21 days  
Aggregate Intrinsic Value, Outstanding Balance $ 387 $ 827
Aggregate Intrinsic Value, Options exercisable $ 387