Loss Per Share - Summary of Computation of Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended								6 Months Ended		9 Months Ended		12 Months Ended
	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net loss attributable to common stockholders
Net loss	$ (22,323)	$ (11,151)	$ (13,248)	$ (10,812)	$ (38,479)	$ (8,547)	$ (8,782)	$ (9,841)	$ (24,060)	$ (18,623)	$ (35,211)	$ (27,170)	$ (57,534)	$ (65,649)	$ (13,693)
Weighted-average common stock outstanding:
Basic		82,548,892	82,373,441	80,681,715		76,850,949	76,481,709	76,447,454	81,536,607	76,465,082	81,878,814	76,595,118	82,087,329	76,766,100	52,916,711
Diluted		82,548,892	82,373,441	80,681,715		76,850,949	76,481,709	76,447,454	81,536,607	76,465,082	81,878,814	76,595,118	82,087,329	76,766,100	52,916,711
Loss per share, Basic:
Basic	$ (0.27)	$ (0.14)	$ (0.16)	$ (0.13)	$ (0.5)	$ (0.11)	$ (0.11)	$ (0.13)	$ (0.3)	$ (0.24)	$ (0.43)	$ (0.35)	$ (0.7)	$ (0.86)	$ (0.26)
Loss per share, Diluted:
Diluted	$ (0.27)	$ (0.14)	$ (0.16)	$ (0.13)	$ (0.5)	$ (0.11)	$ (0.11)	$ (0.13)	$ (0.3)	$ (0.24)	$ (0.43)	$ (0.35)	$ (0.7)	$ (0.86)	$ (0.26)