Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accrued Liabilities, Current [Abstract]
Personnel expenses	$ 2,340	$ 1,130
Professional fees	211	234
Research and development expenses	564	497
Current portion of operating lease liabilities	64	377
Current portion of finance lease liability	0	76
Other	257	185
Total accrued expenses and other current liabilities	$ 3,436	$ 2,499