Subsequent Event - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands			12 Months Ended
	Feb. 29, 2024	Jan. 30, 2024	Dec. 31, 2023	Feb. 26, 2024	Dec. 31, 2022	Dec. 31, 2021
Subsequent Event [Line Items]
Common stock, shares issued			44,754,853		35,110,016
Common stock, par value per share			$ 0.001		$ 0.001
Voxall
Subsequent Event [Line Items]
Initial investment in joint venture						$ 50
Common Stock
Subsequent Event [Line Items]
Common stock issued under ATM offering program			1,001,208
Common Stock | ATM Offering Program
Subsequent Event [Line Items]
Average sale price per share			$ 6.3
Gross proceeds from sale of shares			$ 6,300
Commissions paid to the placement agent			$ 200
Subsequent Event | Private Placement [Member]
Subsequent Event [Line Items]
Gross proceeds from private placement	$ 50,000
Subsequent Event | Pre-Funded Warrants
Subsequent Event [Line Items]
Purchase price per share				$ 4.779
Subsequent Event | Pre-Funded Warrants | Maximum
Subsequent Event [Line Items]
Warrants exercise price per share				$ 0.001
Subsequent Event | Common Stock
Subsequent Event [Line Items]
Common stock issued under ATM offering program		3,600,000
Subsequent Event | Common Stock | ATM Offering Program
Subsequent Event [Line Items]
Average sale price per share		$ 3
Gross proceeds from sale of shares		$ 10,800
Subsequent Event | Common Stock | Private Placement [Member]
Subsequent Event [Line Items]
Common stock, shares issued				8,849,371
Common stock, par value per share				$ 0.001
Purchase price per share				$ 4.78
Subsequent Event | Common Stock | Pre-Funded Warrants
Subsequent Event [Line Items]
Common stock, shares issued				1,611,215