Stock-Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2024 USD ($) $ / shares shares	Dec. 31, 2023 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Number of Options, Outstanding, Beginning Balance | shares	5,982,464
Number of Options, Granted | shares	1,427,222
Number of Options, Exercised | shares	(122,551)
Number of Options, Expired | shares	(200,406)
Number of Options, Forfeited | shares	(130,232)
Number of Options, Outstanding, Ending Balance | shares	6,956,497	5,982,464
Number of Options, Exercisable at June 30, 2024 | shares	3,294,687
Weighted Average Exercise Price, Beginning Balance | $ / shares	$ 7.31
Weighted Average Exercise Price, Granted | $ / shares	3.9
Weighted Average Exercise Price, Exercised | $ / shares	2.14
Weighted Average Exercise Price, Expired | $ / shares	15.96
Weighted Average Exercise Price, Forfeited | $ / shares	11.32
Weighted Average Exercise Price, Ending Balance | $ / shares	6.38	$ 7.31
Weighted Average Exercise Price, Exercisable at June 30, 2024 | $ / shares	$ 7.72
Weighted Average Remaining Contractual Term, Outstanding	7 years 9 months 18 days	7 years 7 months 6 days
Weighted Average Remaining Contractual Term, Exercisable	6 years 8 months 12 days
Aggregate Intrinsic Value, Outstanding | $	$ 4,034	$ 141
Aggregate Intrinsic Value, Exercisable at June 30, 2024 | $	$ 1,989