Debt - OrbiMed Term Loan (related party) (Details) $ in Thousands	1 Months Ended	12 Months Ended
	Nov. 30, 2018 USD ($) tranche	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Long term Debt
Loss on extinguishment of debt			$ (1,228)
OrbiMed Term Loans (related party)
Long term Debt
Debt amount	$ 35,000
Number of Tranches | tranche	2
Interest Rate (as a percent)		7.75%
End of Term Charge		$ 3,000
Loss on extinguishment of debt			1,200
Interest expenses			1,500	$ 3,600
Amortization of debt issuance costs			$ 300	$ 700
OrbiMed Term Loans (related party) | Applicable Rate [Member]
Long term Debt
Variable Interest Rate (as a percent)		2.00%
OrbiMed Term Loans - Tranche One
Long term Debt
Debt amount	$ 30,000
OrbiMed Term Loans - Tranche Two
Long term Debt
Debt amount	$ 5,000