Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	18,747,581	18,211,237
Stock Options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,533,059	1,747,357
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	3,072,224	2,321,582
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	14,142,298	14,142,298