Equity Incentive Plans and Stock-based Compensation - Schedule of Stock-Based Compensation Expense (Details) - Employee Stock Option - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2025	Jun. 30, 2024	Jun. 30, 2025	Jun. 30, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 1,709	$ 3,279	$ 3,877	$ 6,393
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	686	1,146	1,454	2,242
General and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 1,023	$ 2,133	$ 2,423	$ 4,151

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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+ Details