Supplemental Financial Information - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 3,467	$ 8,190
Accrued compensation	3,423	2,519
Accrued clinical trial	1,851	1,473
Lease liabilities, current portion	1,646	1,521
Warrant liability, Current	454
Accrued severance	390	1,463
Accrued professional and consulting fees	330	390
Accrued property, plant and equipment		2,081
Other	723	650
Total accrued expenses and other current liabilities	$ 12,284	$ 18,287