Stock-based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Number of Shares
Options outstanding, beginning of period (in shares)	11,919,421
Granted (in shares)	157,650
Exercised (in shares)	(625)
Forfeited (in shares)	(194,156)
Options outstanding, end of period (in shares)	11,882,290	11,919,421
Number of shares, vested and exercisable (in shares)	4,372,119
Number of shares, vested and expected to vest (in shares)	11,882,290
Weighted Average Exercise Price Per Share
Options outstanding, beginning of period (in dollars per share)	$ 4.64
Granted (in dollars per share)	3.37
Exercised (in dollars per share)	3.07
Forfeited (in dollars per share)	3.86
Options outstanding, end of period (in dollars per share)	4.64	$ 4.64
Weighted average exercise price, vested and exercisable (in dollars per share)	7.09
Weighted average exercise price, vested and expected to vest (in dollars per share)	$ 4.64
Weighted Average Remaining Contractual Term and Aggregate Intrinsic Value
Weighted average remaining contractual term, outstanding (in years)	8 years 1 month 6 days	8 years 3 months 18 days
Weighted average remaining contractual term, vested and exercisable (in years)	5 years 10 months 24 days
Weighted average remaining contractual term, vested and expected to vest (in years)	8 years 1 month 6 days
Aggregate intrinsic value, outstanding	$ 1,968	$ 383
Aggregate intrinsic value, vested and exercisable	295
Aggregate intrinsic value, vested and expected to vest	$ 1,968