Description of Business and Basis of Presentation - Additional Information (Details) $ / shares in Units, $ in Thousands			12 Months Ended
	Feb. 25, 2024 USD ($)	Feb. 17, 2023 USD ($)	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Jul. 07, 2023 shares	Jul. 06, 2023 shares
Inventory [Line Items]
Common stock, shares authorized (in shares) | shares			107,142,857		107,142,857	1,000,000,000
Common stock, par value (in dollars per share) | $ / shares			$ 0.0001	$ 0.0001
Accumulated deficit			$ (255,659)	$ (222,758)
Cash flows from operations			(23,527)	(81,380)
Cash and cash equivalents			$ 16,557	11,231
Aggregate gross proceeds from conversion of preferred stock and warrants to common stock		$ 30,000
Restructuring charges				$ 1,448
Subsequent Event
Inventory [Line Items]
Aggregate gross proceeds from conversion of preferred stock and warrants to common stock	$ 9,250
Common Stock
Inventory [Line Items]
Reduction factor of authorized shares					1.5
Convertible preferred stock
Inventory [Line Items]
Reduction factor of authorized shares					1.5
Temporary equity, shares authorized (in shares) | shares			10,741,071	10,741,071	10,741,071	100,000,000