Long-Term Debt - Summary of Interest Expense (Details) - Hercules Loan Agreement - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Debt Instrument [Line Items]
Interest expense, debt	$ 2,414	$ 1,397	$ 6,463	$ 3,210
Amortization of debt discount	$ 194	$ 237	$ 655	$ 681