Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2011 Plan, 2019 Plan and Inducement Plan - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding Options, Number of Shares, Beginning Balance	5,805,586
Outstanding Options, Number of Shares, granted	2,400,500
Outstanding Options, Number of Shares, forfeited or expired	(256,904)
Outstanding Options, Number of Shares, Ending Balance	7,949,182	5,805,586
Options vested and exercisable, Number of Shares	3,321,228
Outstanding Options, Weighted-Average Exercise Price, Beginning Balance	$ 7.40
Outstanding Options, Weighted-Average Exercise Price, granted	1.59
Outstanding Options, Weighted-Average Exercise Price, forfeited or expired	7.60
Outstanding Options, Weighted-Average Exercise Price, Ending Balance	5.64	$ 7.40
Options vested and exercisable, Weighted-Average Exercise Price	$ 9.62
Outstanding Options, Weighted-Average Remaining Contractual Term (in years)	7 years 10 months 6 days	6 years 10 months 24 days
Options vested and exercisable, Weighted-Average Remaining Contractual Term (in years)	5 years 8 months 19 days
Outstanding Options, Aggregate Intrinsic Value	$ 46	$ 64
Performance-Based Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding Options, Number of Shares, granted	264,500
Outstanding Options, Number of Shares, Ending Balance	264,500
Outstanding Options, Weighted-Average Exercise Price, granted	$ 1.61
Outstanding Options, Weighted-Average Exercise Price, Ending Balance	$ 1.61
Outstanding Options, Weighted-Average Remaining Contractual Term (in years)	9 years 11 months 15 days