Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Prepaid Expense and Other Assets, Current [Abstract]
Prepaid insurance	$ 795	$ 1,014
Prepaid software subscription and licensing fees	686	582
Prepaid maintenance	339	373
Prepaid employee benefits	292	0
Prepayments to CROs and CDMOs	36	53
Prepaid Professional Services	0	82
Other prepaid expenses and current assets	613	457
Total prepaid expenses and other current assets	$ 2,761	$ 2,561