Net Loss Per Share of Common Stock - Schedule of Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Earnings Per Share [Abstract]
Net loss	$ (43,336)	$ (61,256)
Weighted-average number of common shares used to compute basic net loss per share (in shares)	38,427,419	34,201,824
Weighted-average number of common shares used to compute diluted net loss per share (in shares)	38,427,419	34,201,824
Net loss per share, basic (in dollars per share)	$ (1.13)	$ (1.79)
Net loss per share, diluted (in dollars per share)	$ (1.13)	$ (1.79)