Preferred Stock and Common Stock Warrants - Schedule of Reconciliation of Changes in the Fair Value of the Common Stock Warrants (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Warrant Liability [Roll Forward]
Beginning balance	$ 6,790	$ 3,963
Increase in fair value	1,879	5,747
Exercise	0	(3,564)
Issuance	0	644
Ending balance	$ 8,669	$ 6,790

Amount of expense (income) related to adjustment to fair value of warrant liability.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 45
-Paragraph 28
-Subparagraph (b)
-SubTopic 10
-Topic 230
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482740/230-10-45-28

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 25
-Paragraph 13
-SubTopic 10
-Topic 480
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481766/480-10-25-13

Name:	us-gaap_FairValueAdjustmentOfWarrants
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration