Stock-Based Compensation - Summary of Activity under Stock Option Plans and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2024	Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]
Number of options outstanding, Outstanding, Beginning balance	13,110,717
Number of options outstanding, Options granted	3,541,000
Number of options outstanding, Options cancelled/forfeited	(1,395,135)
Number of options outstanding, Outstanding, Ending balance	15,256,582	13,110,717
Number of options outstanding, options vested and exercisable	8,334,868
Weighted average exercise price, Outstanding, Beginning balance	$ 2.60
Weighted average exercise price, Options granted	0.9
Weighted average exercise price, Options cancelled/forfeited	2.84
Weighted average exercise price, Outstanding, Ending balance	2.18	$ 2.60
Weighted average exercise price, options vested and exercisable	$ 2.58
Weighted average remaining contractual term, (Years) Outstanding balance	7 years 2 months 12 days	7 years 1 month 6 days
Weighted average remaining contractual term, (Years) options vested and exercisable	5 years 8 months 12 days
Aggregate intrinsic value, Outstanding, Beginning balance	$ 118
Aggregate intrinsic value, Outstanding, Ending balance	0	$ 118
Aggregate intrinsic value, options vested and exercisable	$ 0