Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Temporary equity, par value (in usd per share)	$ 0.001	$ 0.001
Temporary equity, shares authorized (in shares)	34,611,501	35,438,752
Temporary equity, shares issued (in shares)	0	693,741
Temporary equity, shares outstanding (in shares)	0	693,741
Temporary equity, liquidation preference per share (in usd per share)	$ 25.00	$ 25.00
Common stock, par value (in usd per share)	$ 0.001	$ 0.001
Common stock, authorized shares (in shares)	900,000,000	900,000,000
Common stock, issued shares (in shares)	22,786,741	22,737,853
Common stock, outstanding shares (in shares)	22,786,741	22,737,853
Series A Preferred Stock
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	34,611,501	35,438,752
Preferred stock, shares issued (in shares)	8,820,338	8,126,597
Preferred stock, shares outstanding (in shares)	7,431,839	7,565,349
Preferred stock, liquidation preference per share (in usd per share)	$ 25.00	$ 25.00
Series A1 Preferred Stock
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	27,904,974	27,990,070
Preferred stock, shares issued (in shares)	10,473,369	5,966,077
Preferred stock, shares outstanding (in shares)	10,378,343	5,956,147
Preferred stock, liquidation preference per share (in usd per share)	$ 25.00	$ 25.00
Series D Preferred Stock
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	26,991,590	26,992,000
Preferred stock, shares issued (in shares)	56,857	56,857
Preferred stock, shares outstanding (in shares)	48,447	48,857
Preferred stock, liquidation preference per share (in usd per share)	$ 25.00	$ 25.00