Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Prepaid Expense and Other Assets, Current [Abstract]
Prepaid insurance	$ 1,014	$ 1,251
Prepaid software subscription and licensing fees	582	529
Prepaid maintenance	373	295
Prepayments to CROs and CDMOs	53	492
Prepaid professional services	82	44
Interest receivable	0	435
Other prepaid expenses and current assets	457	336
Total prepaid expenses and other current assets	$ 2,561	$ 3,382