Nature of the Business and Basis of Presentation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Cash, Cash Equivalents, and Short-Term Investments	$ 114,200
Accumulated deficit	477,905	$ 376,738
Net income (loss)	(101,167)	(93,867)	$ (88,696)
Net Cash Provided by (Used in) Operating Activities	(96,512)	$ (77,102)	$ (70,905)
Min Cash Test Date 1 [Member] | Hercules Second Amended Loan Agreement
Restructuring Cost and Reserve [Line Items]
Line of Credit, Covenant, Minimum Cash	$ 20,000