Organization and Description of Business (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($)	Mar. 31, 2023 USD ($)	May 08, 2024 USD ($)	Dec. 31, 2023 USD ($)	May 12, 2023 purchaser
Subsequent Event [Line Items]
Accumulated deficit	$ 569,210			$ 537,314
Operating losses	26,578	$ 22,512
Net cash used in operating activities	27,347	$ 18,641
Revenue interest liability	57,959			38,600
Cash and cash equivalents	115,505			80,448
Revenue Interest Purchase Agreement
Subsequent Event [Line Items]
Number of purchasers | purchaser					2
Revenue interest liability	$ 58,000			$ 38,600
Revenue Interest Purchase Agreement | Subsequent Event
Subsequent Event [Line Items]
Contingent cash collateral to be funded			$ 54,000