Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Computed tax at federal statutory rate applied to pre-tax loss	$ (13,203)	$ (12,403)	$ (9,797)
State income tax, net of federal tax benefit	(2,567)	(2,437)	(3,927)
Stock-based compensation	(1,539)	1,815	(14,905)
Other permanent differences, net	469	279	388
Executive compensation	2,970	1,008	578
Exercise of warrants	0	0	1,162
Return to provision adjustments	(187)	(54)	(645)
Other	(41)	42	(111)
Change in valuation allowance	14,142	11,289	27,429
Total provision (benefit) for income taxes	$ 44	$ (461)	$ 172
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Computed tax at federal statutory rate applied to pre-tax loss (as a percent)	21.00%	21.00%	21.00%
State income tax, net of federal tax benefit (as a percent)	4.10%	4.10%	8.40%
Stock-based compensation (as a percent)	2.40%	(3.10%)	31.90%
Other permanent differences, net (as a percent)	(0.70%)	(0.50%)	(0.80%)
Executive compensation (as a percent)	(4.70%)	(1.70%)	(1.20%)
Exercise of warrants (as a percent)	0.00%	0.00%	(2.50%)
Return to provision adjustment (as a percent)	0.30%	0.10%	1.40%
Other (as a percent)	0.00%	(0.10%)	0.20%
Valuation allowance increase (as a percent)	(22.50%)	(19.10%)	(58.80%)
Total (as a percent)	(0.10%)	0.70%	(0.40%)