Stock-Based Compensation - Schedule of Estimated Fair Value of Each Stock Option Award (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate, minimum	3.40%	1.53%
Risk-free interest rate, maximum	4.21%	2.92%
Expected dividend yield	0.00%	0.00%
Expected volatility, minimum	97.00%	92.10%
Expected volatility, maximum	114.21%	95.70%
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected life	5 years 6 months	5 years 6 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected life	6 years 3 months	6 years 3 months