| Document and Entity Information | Jun. 20, 2024 |
| Cover [Abstract] | |
| Amendment Flag | false |
| Entity Central Index Key | 0001501796 |
| Current Fiscal Year End Date | --12-31 |
| Document Type | 8-K |
| Document Period End Date | Jun. 20, 2024 |
| Entity Registrant Name | Aura Biosciences, Inc. |
| Entity Incorporation State Country Code | DE |
| Entity File Number | 001-40971 |
| Entity Tax Identification Number | 32-0271970 |
| Entity Address, Address Line One | 80 Guest Street |
| Entity Address, City or Town | Boston |
| Entity Address, State or Province | MA |
| Entity Address, Postal Zip Code | 02135 |
| City Area Code | 617 |
| Local Phone Number | 500-8864 |
| Written Communications | false |
| Soliciting Material | false |
| Pre Commencement Tender Offer | false |
| Pre Commencement Issuer Tender Offer | false |
| Security 12b Title | Common Stock, $0.00001 par value per share |
| Trading Symbol | AURA |
| Security Exchange Name | NASDAQ |
| Entity Emerging Growth Company | true |
| Entity Ex Transition Period | false |
