Loan Payable - Narrative (Details) $ in Thousands			3 Months Ended
	Dec. 23, 2022 USD ($)	Jan. 15, 2021 USD ($) Tranche	Mar. 31, 2024 USD ($)	Mar. 31, 2023 USD ($)	Dec. 31, 2023 USD ($)
Debt Instrument [Line Items]
Long-term debt			$ 10,600
Loan payable (net of discount and issuance costs of $XXX and $164, respectively)			$ 4,140		$ 6,264
Term Loan
Debt Instrument [Line Items]
Loan amount		$ 35,000
Loan mature date	Aug. 01, 2025
Number of tranches | Tranche		3
Debt instrument interest term			the interest-only repayment period was extended through December 31, 2023 (which interest-only period may be further extended through June 30, 2024 under certain circumstances)
Prepayment amount	$ 5,000
Annual floating interest rate	7.15%
Debt instrument, basis spread on variable rate	7.10%
Thershold index rate	0.05%
Monthly principal payments	$ 733
Loan discounts		$ 898
Payments of debt issuance costs		95
Interest expense			$ 368	$ 344
Tranche A Term Loan
Debt Instrument [Line Items]
Loan amount		15,000
Tranche B Term Loan
Debt Instrument [Line Items]
Loan amount		$ 10,000
Loan mature date		Mar. 31, 2022
Tranche C Term Loan
Debt Instrument [Line Items]
Loan amount		$ 10,000