Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Schedule of Antidilutive Shares Excluded from Computation of Diluted Net (Loss) Income Per Share (Details)

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Summary of Significant Accounting Policies - Schedule of Antidilutive Shares Excluded from Computation of Diluted Net (Loss) Income Per Share (Details) - shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Stock Option      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share, amount 3,457,404 2,204,216 30,752,951
Restricted Stock Units      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share, amount 184,619 62,140 1,683,077
Employee Stock Purchase Plan      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share, amount 53,408 49,645 194,263