Organization and Basis of Presentation - Additional Information (Details) $ / shares in Units, $ in Thousands, shares in Millions			12 Months Ended
	Mar. 01, 2024 USD ($)	Sep. 27, 2022 USD ($) $ / shares shares	Dec. 31, 2023 USD ($) Segment	Dec. 31, 2022 USD ($)
Organization And Basis Of Presentation [Line Items]
Proceeds from issuance of common stock net of underwriting discounts and commissions and other offering expenses				$ 20,516
Cash and cash equivalents and short-term investments			$ 46,800
Accumulated deficit			(430,013)	(369,094)
Net loss			60,919	57,050
Cash and cash equivalents used in operations			$ 46,062	61,072
Operating and Reportable segments | Segment			2
Cash and cash equivalents			$ 14,009	$ 17,665
Silicon Valley Bank
Organization And Basis Of Presentation [Line Items]
Cash and cash equivalents			800
Term Loan
Organization And Basis Of Presentation [Line Items]
Principal outstanding			$ 40,000
Prefunded Warrants
Organization And Basis Of Presentation [Line Items]
Common stock shares issued | shares		43.3
Public offering price per share | $ / shares		$ 0.949
Warrant exercise price per share | $ / shares		$ 0.001
Private Placement
Organization And Basis Of Presentation [Line Items]
Common stock shares issued | shares		23.0
Public offering price per share | $ / shares		$ 0.95
Proceeds from issuance of common stock net of underwriting discounts and commissions and other offering expenses		$ 59,000
Subsequent Event | Third Amendment
Organization And Basis Of Presentation [Line Items]
Principal repayment	$ 15,000