Fair Value Measurement - Schedule of assets measured at fair value on a recurring basis (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Jan. 04, 2022
Cash equivalents:
Total cash equivalents	$ 33,562	$ 10,437
Short-term investments:
Total short-term investments	5,969	3,703
Total assets measured at fair value	39,531	14,140
Liabilities:
Warrant liability	43	440	$ 1,300
Earnout liability	93	920
Total liabilities measured at fair value	136	1,360
Commercial paper
Short-term investments:
Total short-term investments	5,969
Corporate debt securities
Short-term investments:
Total short-term investments		3,703
Money market funds
Cash equivalents:
Total cash equivalents	33,562	10,437
Level 1
Cash equivalents:
Total cash equivalents	33,562	10,437
Short-term investments:
Total short-term investments	0	0
Total assets measured at fair value	33,562	10,437
Liabilities:
Warrant liability	0	0
Earnout liability	0	0
Total liabilities measured at fair value	0	0
Level 1 | Commercial paper
Short-term investments:
Total short-term investments	0
Level 1 | Corporate debt securities
Short-term investments:
Total short-term investments		0
Level 1 | Money market funds
Cash equivalents:
Total cash equivalents	33,562	10,437
Level 2
Cash equivalents:
Total cash equivalents	0	0
Short-term investments:
Total short-term investments	5,969	3,703
Total assets measured at fair value	5,969	3,703
Liabilities:
Warrant liability	43	440
Earnout liability	0	0
Total liabilities measured at fair value	43	440
Level 2 | Commercial paper
Short-term investments:
Total short-term investments	5,969
Level 2 | Corporate debt securities
Short-term investments:
Total short-term investments		3,703
Level 2 | Money market funds
Cash equivalents:
Total cash equivalents	0	0
Level 3
Cash equivalents:
Total cash equivalents	0	0
Short-term investments:
Total short-term investments	0	0
Total assets measured at fair value	0	0
Liabilities:
Warrant liability	0	0
Earnout liability	93	920
Total liabilities measured at fair value	93	920
Level 3 | Commercial paper
Short-term investments:
Total short-term investments	0
Level 3 | Corporate debt securities
Short-term investments:
Total short-term investments		0
Level 3 | Money market funds
Cash equivalents:
Total cash equivalents	$ 0	$ 0