Stock-based Compensation - Stock Option Award Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Number of Options
Outstanding, Beginning Balance (in shares)	8,109,123
Canceled or forfeited (in shares)	(145,190)
Exercised (in shares)	0
Outstanding, Ending Balance (in shares)	7,963,933	8,109,123
Options vested and expected to vest (in shares)	3,001,384
Weighted-Average Exercise Price
Beginning Balance (in dollars per share)	$ 3.51
Canceled or forfeited (in dollars per share)	2.74
Exercised (in dollars per share)	0
Ending Balance (in dollars per share)	3.53	$ 3.51
Options vested and expected to vest (in dollars per share)	$ 4.80
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Options Outstanding, Weighted Average Remaining Contractual Term (years)	8 years 7 months 6 days	8 years 9 months 18 days
Options Vested and Expected to Vest, Weighted Average Remaining Contractual Term (years)	7 years 9 months 18 days
Options Outstanding, Aggregate Intrinsic Value	$ 0	$ 0
Granted, Aggregate Intrinsic Value	0
Canceled or forfeited, Aggregate Intrinsic Value	0
Exercised, Aggregate Intrinsic Value	0
Options vested and expected to vest	$ 0
Minimum
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Exercise price of options outstanding (in dollars per share)	$ 1.15
Maximum
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Exercise price of options outstanding (in dollars per share)	$ 876