Debt Obligations (Details)		1 Months Ended	3 Months Ended	12 Months Ended
	May 31, 2023	Jun. 30, 2023 USD ($) $ / shares Rate shares	Mar. 31, 2024 USD ($) d Rate	Dec. 31, 2027 USD ($)	Dec. 31, 2026 USD ($)	Dec. 31, 2025 USD ($)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($) $ / shares shares	Mar. 31, 2022 USD ($) $ / shares shares
Line of Credit Facility [Line Items]
Long-term debt, net			$ 99,874,000				$ 99,508,000
Term Loan | Oxford Finance LLC Term Loans | Line of Credit
Line of Credit Facility [Line Items]
Term loan borrowing capacity									$ 150,000,000
Unamortized discount on debt			6,100,000
Exit fee amount			$ 6,000,000
Exit fee percentage | Rate			6.00%
Term for exercise of warrants			5 years
Prepayment fee percentage			3.00%
Covenant compliance period			1 year
Weighted average interest rate	8.01%		12.90%
Incremental interest rate | Rate		0.10%
Interest expense			$ (3,800,000)
Amortization of discount and related debt costs			500,000
Minimum required cash and investments balance			10,000,000
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Forecast
Line of Credit Facility [Line Items]
Debt payments				$ 19,000,000.0	$ 52,200,000	$ 34,800,000
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | LIBOR
Line of Credit Facility [Line Items]
Basis spread on variable rate	7.90%
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | First Tranche
Line of Credit Facility [Line Items]
Term loan funded									$ 25,000,000
Warrants outstanding (in shares) | shares									420,673
Exercise price of warrants (in dollars per share) | $ / shares									$ 2.08
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | First Tranche | Secured Overnight Financing Rate (SOFR)
Line of Credit Facility [Line Items]
Basis spread on variable rate		7.90%
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Second Tranche
Line of Credit Facility [Line Items]
Term loan funded								$ 25,000,000
Warrants outstanding (in shares) | shares								224,128
Exercise price of warrants (in dollars per share) | $ / shares								$ 1.95
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Second Tranche | Secured Overnight Financing Rate (SOFR)
Line of Credit Facility [Line Items]
Basis spread on variable rate		7.90%
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Third tranche
Line of Credit Facility [Line Items]
Term loan funded		$ 50,000,000
Warrants outstanding (in shares) | shares		183,824
Exercise price of warrants (in dollars per share) | $ / shares		$ 2.38
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Third tranche | Secured Overnight Financing Rate (SOFR)
Line of Credit Facility [Line Items]
Basis spread on variable rate | Rate		7.00%
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fourth Tranche
Line of Credit Facility [Line Items]
Remaining term loan funding			$ 25,000,000
Warrant percentage of fourth tranche | Rate			1.75%
Number of days to determine average closing price of warrant shares | d			10
Minimum required cash and investments balance			$ 25,000,000
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fourth Tranche | Secured Overnight Financing Rate (SOFR)
Line of Credit Facility [Line Items]
Basis spread on variable rate | Rate		7.00%
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fifth Tranche
Line of Credit Facility [Line Items]
Remaining term loan funding			$ 25,000,000
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Debt Instrument Redemption Period One and Two
Line of Credit Facility [Line Items]
Term loan funded								$ 50,000,000