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Stockholders’ Equity and Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Shares of Stock under Stock Options    
Beginning balance (in shares) 3,268  
Granted (in shares) 51  
Exercised (in shares) 0  
Canceled (in shares) (258)  
Ending balance (in shares) 3,061 3,268
Vested and exercisable (in shares) 1,563  
Weighted- Average Exercise Price    
Beginning balance (in dollars per share) $ 24.79  
Granted (in dollars per share) 1.18  
Exercised (in dollars per share) 0  
Canceled (in dollars per share) 25.47  
Ending balance (in dollars per share) 24.34 $ 24.79
Vested and exercisable (in dollars per share) $ 29.48  
Weighted- Average Remaining Contractual Term    
Outstanding and expected to vest (in years) 7 years 11 months 1 day 7 years 9 months 18 days
Vested and exercisable (in years) 7 years 4 months 2 days  
Aggregate Intrinsic Value    
Beginning balance $ 3  
Exercised 0  
Ending balance 0 $ 3
Vested and exercisable $ 0