Stock-Based Compensation - Schedule of 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
Beginning balance (in shares)	13,161,228
Granted (in shares)	2,632,054
Exercised (in shares)	(101,426)
Forfeited (in shares)	(590,947)
Ending balance (in shares)	15,100,909	13,161,228
Exercisable (in shares)	8,711,464
Weighted Average Exercise Price
Beginning balance (in USD per share)	$ 2.38
Granted (in USD per share)	0.70
Exercised (in USD per share)	0.42
Forfeited (in USD per share)	3.63
Ending balance (in USD per share)	2.05	$ 2.38
Exercisable (in USD per share)	$ 2.56
Weighted Average Remaining Contractual Life (Years)
Weighted average remaining contractual life	8 years	7 years 10 months 9 days
Weighted average remaining contractual life, options exercisable	7 years 1 month 24 days
Aggregate Intrinsic Value (In Thousands)
Options outstanding, beginning balance	$ 337
Granted in period, intrinsic value	5
Exercises in period, intrinsic value	44
Forfeited in period, intrinsic value	79
Options outstanding, ending balance	6,191	$ 337
Options exercisable	$ 1,771