Loss Per Share - Summary of Computation of Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net loss attributable to common stockholders
Net loss	$ (47,841)	$ (67,326)	$ (13,693)
Weighted-average common stock outstanding:
Basic	82,087,329	76,766,100	52,916,711
Diluted	82,087,329	76,766,100	52,916,711
Loss per share, Basic:
Basic	$ (0.58)	$ (0.88)	$ (0.26)
Loss per share, Diluted:
Diluted	$ (0.58)	$ (0.88)	$ (0.26)