Fair Value of Financial Assets and Liabilities - Measured on a Recurring Basis (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Derivative Liability, Statement of Financial Position [Extensible Enumeration]	Other liabilities	Other liabilities
Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	$ 96,841	$ 73,028
Fair value of derivative liability	15,693	23,141
Fair Value, Recurring | Cash equivalents--money market funds and U.S. Treasury bills
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	81,841	73,028
Fair Value, Recurring | Marketable securities-U.S. Treasury notes, U.S. Treasury bills, and federal government agency notes
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	15,000
Fair Value, Recurring | Embedded derivative liability
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	10	10
Fair Value, Recurring | Warrant
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	15,683	23,131
Level 1 | Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	76,856	70,170
Fair value of derivative liability	0	0
Level 1 | Fair Value, Recurring | Cash equivalents--money market funds and U.S. Treasury bills
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	76,856	70,170
Level 1 | Fair Value, Recurring | Marketable securities-U.S. Treasury notes, U.S. Treasury bills, and federal government agency notes
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	0
Level 1 | Fair Value, Recurring | Embedded derivative liability
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	0	0
Level 1 | Fair Value, Recurring | Warrant
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability
Level 2 | Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	19,985	2,858
Fair value of derivative liability	0	0
Level 2 | Fair Value, Recurring | Cash equivalents--money market funds and U.S. Treasury bills
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	4,985	2,858
Level 2 | Fair Value, Recurring | Marketable securities-U.S. Treasury notes, U.S. Treasury bills, and federal government agency notes
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	15,000
Level 2 | Fair Value, Recurring | Embedded derivative liability
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	0	0
Level 2 | Fair Value, Recurring | Warrant
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability
Level 3 | Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	0	0
Fair value of derivative liability	15,693	23,141
Level 3 | Fair Value, Recurring | Cash equivalents--money market funds and U.S. Treasury bills
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	0	0
Level 3 | Fair Value, Recurring | Marketable securities-U.S. Treasury notes, U.S. Treasury bills, and federal government agency notes
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents--money market funds and U.S. Treasury bills	0
Level 3 | Fair Value, Recurring | Embedded derivative liability
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	10	10
Level 3 | Fair Value, Recurring | Warrant
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	$ 15,683	$ 23,131