Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued compensation	$ 6,514	$ 5,703
Accrued CDMO costs	5,679	4,390
Accrued professional services	625	1,356
Accrued research and development expenses	354	674
Accrued CRO costs	257	657
Accrued other liabilities	12	31
Total	$ 13,441	$ 12,811