Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Loss before income taxes	$ (55,026)	$ (60,828)
United States statutory income tax rate	21.00%	21.00%
Income tax (benefit) at United States statutory income tax rate	$ (11,555)	$ (12,774)
Change in valuation allowance	11,428	17,719
Warrant fair value adjustment	(37)	33
Adjustment of prior year income taxes	164	(4,978)
Income tax expense (benefit)	$ 0	$ 0