Stock-Based Compensation - Summary of Stock Options Outstanding And Vested (Details) - Stock Option	3 Months Ended
	Mar. 31, 2024 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	1,898,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years 1 month 6 days
Options outstanding, Weighted average exercise price	$ 5.23
Options vested, Number Exercisable | shares	1,088,000
Options vested, Weighted average exercise price	$ 5.94
Exercise Price $2.15 - $3.10
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	355,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years 9 months 18 days
Options outstanding, Weighted average exercise price	$ 2.66
Options vested, Number Exercisable | shares	102,000
Options vested, Weighted average exercise price	$ 2.66
Exercise price range (lower)	2.15
Exercise price range (upper)	$ 3.1
Exercise Price $3.23
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	422,000
Options outstanding, Weighted average remaining contractual term (in years)	9 years 2 months 12 days
Options outstanding, Weighted average exercise price	$ 3.23
Options vested, Number Exercisable | shares	193,000
Options vested, Weighted average exercise price	$ 3.23
Exercise price range (lower)	$ 3.23
Exercise Price $3.27 - $5.95
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	54,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years 3 months 18 days
Options outstanding, Weighted average exercise price	$ 4.63
Options vested, Number Exercisable | shares	12,000
Options vested, Weighted average exercise price	$ 5.78
Exercise price range (lower)	3.27
Exercise price range (upper)	$ 5.95
Exercise Price $6.04
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	413,000
Options outstanding, Weighted average remaining contractual term (in years)	7 years 8 months 12 days
Options outstanding, Weighted average exercise price	$ 6.04
Options vested, Number Exercisable | shares	225,000
Options vested, Weighted average exercise price	$ 6.04
Exercise price range (lower)	$ 6.04
Exercise Price $6.07 - $8.62
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	654,000
Options outstanding, Weighted average remaining contractual term (in years)	7 years 1 month 6 days
Options outstanding, Weighted average exercise price	$ 7.44
Options vested, Number Exercisable | shares	556,000
Options vested, Weighted average exercise price	$ 7.45
Exercise price range (lower)	6.07
Exercise price range (upper)	$ 8.62