Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2024	Dec. 31, 2023
Number of Shares
Beginning balance (in shares)	13,161,228
Granted (in shares)	3,965,725
Exercised (in shares)	(284,788)
Forfeited (in shares)	(677,354)
Ending balance (in shares)	16,164,811	13,161,228
Vested and expected to vest (in shares)	16,164,811
Exercisable (in shares)	9,602,087
Weighted Average Exercise Price
Beginning balance (in USD per share)	$ 2.38
Granted (in USD per share)	0.96
Exercised (in USD per share)	0.57
Forfeited (in USD per share)	3.71
Ending balance (in USD per share)	2.01	$ 2.38
Vested and expected to vest (in USD per share)	2.01
Exercisable (in USD per share)	$ 2.40
Weighted Average Remaining Contractual Life (Years)
Weighted average remaining contractual life	7 years 8 months 12 days	7 years 10 months 9 days
Weighted average remaining contractual life, vested and expected to vest	7 years 8 months 12 days
Weighted average remaining contractual life, options exercisable	6 years 9 months 18 days
Aggregate Intrinsic Value (In Thousands)
Options outstanding, beginning balance	$ 337
Granted, intrinsic value
Exercised, intrinsic value	183
Forfeited, intrinsic value
Options outstanding, ending balance	1,949	$ 337
Vested and expected to vest, intrinsic value	1,949
Options exercisable	$ 1,072