Debt - Additional Information (Details) - USD ($)		3 Months Ended		6 Months Ended
	Oct. 13, 2022	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Debt Instrument [Line Items]
Loan and security agreement, amount		$ 50,000,000		$ 50,000,000		$ 50,000,000
Exercise price per share		$ 0.001		$ 0.001
Fair market value per share of common stock				$ 3.84	$ 5.31
Unamortized debt discount		$ 10,010,000		$ 10,010,000		$ 11,189,000
Minimum
Debt Instrument [Line Items]
Contractual life				5 years 6 months	5 years 6 months
Maximum
Debt Instrument [Line Items]
Contractual life				6 years 8 months 12 days	7 years
Oaktree Agreement [Member]
Debt Instrument [Line Items]
Loan agreement, maturity date	Oct. 13, 2027
Proceeds from (Repayments of) Debt, Total	$ 9,800,000
Payment of financing and stock issuance costs	2,700,000
Long term additional debt discount exit fee				$ 1,000,000
Embedded derivative liability upon issuance of Term Loan	8,900,000
Fair value of embedded derivative liability		1,800,000		1,800,000
Amortization of debt discount		604,000	$ 488,000	1,200,000	$ 947,000
Unamortized debt discount	$ 13,600,000
Exit fee		$ 45,000	$ 36,000	$ 87,000	$ 70,000
Prepayment premium percentage one	0.02
Oaktree Agreement [Member] | Maximum
Debt Instrument [Line Items]
Loan and security agreement, amount	$ 100,000,000
Oaktree Agreement [Member] | Warrants
Debt Instrument [Line Items]
Exercise price per share	$ 5.4
Relative fair value of detachable warrants	$ 2,000,000
Risk-free rate	4.11%
Contractual life	7 years
Fair market value per share of common stock	$ 5.5
Exercise price per warrant	$ 5.4
Expected volatility	77.00%
Oaktree Agreement [Member] | Warrants | Maximum
Debt Instrument [Line Items]
Purchase shares of common stock	516,345
Oaktree Agreement [Member] | SOFR
Debt Instrument [Line Items]
Basis spread on variable base rate	8.75%
Oaktree Agreement [Member] | SOFR | Interest Rate Floor [Member]
Debt Instrument [Line Items]
Basis spread on variable base rate	1.00%
Oaktree Agreement [Member] | SOFR | Interest Rate Cap [Member]
Debt Instrument [Line Items]
Basis spread on variable base rate	3.00%
Oaktree Agreement [Member] | Borrowings One [Member]
Debt Instrument [Line Items]
Loan and security agreement, amount	$ 50,000,000
Proceeds from term loan	37,500,000
Unrestricted cash	15,000,000
Oaktree Agreement [Member] | Borrowings Two [Member]
Debt Instrument [Line Items]
Loan and security agreement, amount	50,000,000
Unrestricted cash	20,000,000
Oaktree Agreement [Member] | Borrowings Three [Member]
Debt Instrument [Line Items]
Loan and security agreement, amount	$ 50,000,000