Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended		3 Months Ended		6 Months Ended
	Aug. 07, 2023	Oct. 31, 2023	Jul. 31, 2023	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Mar. 06, 2024	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares authorized				200,000,000		200,000,000			200,000,000
Common stock, par value				$ 0.0001		$ 0.0001			$ 0.0001
Preferred stock, shares authorized				10,000,000		10,000,000
Preferred stock, par value				$ 0.0001		$ 0.0001
Common stock, shares outstanding				35,424,388		35,424,388			35,254,752
Number of shares available for issuance				13,389,439		13,389,439			9,953,063
Total non-cash stock-based compensation expense				$ 952	$ 934	$ 1,924	$ 1,972
Unamortized stock compensation for stock options				4,700		$ 4,700
Weighted-average recognition period of stock option unamortized						2 years 8 months 15 days
Repriced Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number	0
Total non-cash stock-based compensation expense	$ 1,300
Repriced Options | General and Administrative and Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash stock-based compensation expense				$ 200		$ 400
Vested Repricing Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash stock-based compensation expense	800
Unvested Repriced Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash stock-based compensation expense	$ 500
2018 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance				17,200		17,200
2018 Equity Incentive Plan | Repriced Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Repricing of outstanding options	6,628,589
2024 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance								1,500,000
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Repricing of outstanding options				9,183,927		9,183,927			7,031,075
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock repurchased			$ 7,500			$ 300
Common stock repurchased, Shares						298,385
Common Stock | Two Thousand Twenty Three ATM Facility Member
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock, Shares						0
Common stock shares maximum aggregate offering price		$ 21,950
Common Stock Warrants
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance				1,366,141		1,366,141			1,366,141