Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Numerator:
Net loss	$ (31,385)	$ (51,660)
Denominator
Weighted average shares of common stock outstanding - basic	37,237,149	33,496,534
Weighted average shares of common stock outstanding - diluted	37,237,149	33,496,534
Net loss per share - basic	$ (0.84)	$ (1.54)
Net loss per share - diluted	$ (0.84)	$ (1.54)