Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2024	Dec. 31, 2023
Number of Shares
Beginning balance (in shares)	13,161,228
Granted (in shares)	3,661,636
Exercised (in shares)	(168,083)
Forfeited (in shares)	(657,130)
Ending balance (in shares)	15,997,651	13,161,228
Exercisable (in shares)	9,576,154
Weighted Average Exercise Price
Beginning balance (in USD per share)	$ 2.38
Granted (in USD per share)	0.93
Exercised (in USD per share)	0.65
Forfeited (in USD per share)	3.79
Ending balance (in USD per share)	2.01	$ 2.38
Exercisable (in USD per share)	$ 2.39
Weighted Average Remaining Contractual Life (Years)
Weighted average remaining contractual life	7 years 10 months 13 days	7 years 10 months 9 days
Weighted average remaining contractual life, options exercisable	7 years 29 days
Aggregate Intrinsic Value (In Thousands)
Options outstanding, beginning balance	$ 337
Granted in period, intrinsic value	49
Exercises in period, intrinsic value	91
Forfeited in period, intrinsic value	80
Options outstanding, ending balance	5,536	$ 337
Options exercisable	$ 2,483