Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	17,397,554	17,074,046
Employee Stock Option
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,548,642	1,727,327
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,706,614	1,204,421
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	14,142,298	14,142,298