Convertible Preferred Stock Warrants - Schedule of Probability Weighted Assumptions of Convertible Preferred Stock Warrants (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, Weighted Average	64.90%	63.10%
Expected dividend yield	0.00%	0.00%
Expected dividend yield, Weighted Average	0.00%	0.00%
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, Minimum	64.90%	62.40%
Risk adjusted discount factor, Minimum	3.40%	2.00%
Expected life (in years)	5 years 6 months	6 years
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, Maximum	68.60%	64.90%
Risk adjusted discount factor, Maximum	4.80%	3.80%
Expected life (in years)	6 years 1 month 6 days	10 years