Subsequent Event - Additional Information (Details) - USD ($) $ in Thousands, shares in Millions	1 Months Ended		12 Months Ended
	Feb. 29, 2024	Feb. 28, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Subsequent Event [Line Items]
Proceeds from issuance of common stock, net			$ 4,626	$ 4,312	$ 5,346
Underwritten Public Offering | Subsequent Event
Subsequent Event [Line Items]
Proceeds from issuance of common stock, net	$ 179,900
Underwritten Public Offering | Subsequent Event | Common Stock
Subsequent Event [Line Items]
Issuance of common stock, net of offering costs (in shares)	21.8
Underwritten Public Offering | Pre-Funded Warrants | Subsequent Event
Subsequent Event [Line Items]
Warrants to purchase common stock	12.7
Underwriters' Option | Common Stock
Subsequent Event [Line Items]
Issuance of common stock, net of offering costs (in shares)		3.5
Underwriters' Option | Subsequent Event
Subsequent Event [Line Items]
Proceeds from issuance of common stock, net	$ 179,900
Underwriters' Option | Subsequent Event | Common Stock
Subsequent Event [Line Items]
Issuance of common stock, net of offering costs (in shares)	4.5
Underwriters' Option | Pre-Funded Warrants | Subsequent Event
Subsequent Event [Line Items]
Warrants to purchase common stock	12.7