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Term Loans - Additional Information (Details)			12 Months Ended
Term Loans - Additional Information (Details)	Nov. 13, 2023 USD ($)	Aug. 12, 2021 USD ($) Program	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Debt Instrument [Line Items]
Debt instrument, maturity date		Aug. 01, 2026
Success fee liability at fair value			$ 800,000
Percentage of interest rate		7.00%
Percentage of prepayment of facility		7.50%
Exit fee recorded as debt discount			3,000,000
Interest expense related to term loan			4,900,000	$ 3,700,000
Prime Rate
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate		3.75%
Term Loan
Debt Instrument [Line Items]
Current borrowing capacity		$ 30,000,000.0			$ 10,000,000.0
Prepayment of long term debt			43,200,000
Payment of exit fee			3,000,000
Accrued interest			200,000
Remaining balance of debt discount			1,400,000
Trinity Term Loans
Debt Instrument [Line Items]
Fair value of loan at issuance	$ 39,230,000		$ 40,508,000
Trinity Term Loan Agreement
Debt Instrument [Line Items]
Percentage of calculated discounted cash flows of discount rate			15.68%
Trinity Term Loan Agreement \| Trinity Term Loans \| Trinity Lenders
Debt Instrument [Line Items]
Maximum borrowing capacity	$ 40,000,000
Interest rate terms description	The interest rate applicable to the Trinity Term Loans is the greater of (a) the WSJ Prime Rate plus 4.50% or (b) 12.75% per annum. The Trinity Term Loans are interest only from the Trinity Closing Date through 36 months from the Trinity Closing Date, which may be extended to 48 months from the Trinity Closing Date upon the satisfaction of certain milestones set forth in the Trinity Term Loan Agreement, after which the Company is required to pay equal monthly installments of principal through November 13, 2028 (the “Maturity Date”).
Interest rate period	36 months
Interest rate extension period	48 months
Debt outstanding			$ 40,000,000
Debt instrument, maturity date	Nov. 13, 2028
Debt instrument, basis spread on variable rate	12.75%
Commitment fee percentage	1.00%
End of term payment percentage	5.00%
Warrants associated with loan facility	$ 0
Percentage of annual default interest rate	5.00%
Trinity Term Loan Agreement \| Trinity Term Loans \| Trinity Lenders \| Closing Date through November 13, 2024
Debt Instrument [Line Items]
Percentage of prepayment premium	3.00%
Trinity Term Loan Agreement \| Trinity Term Loans \| Trinity Lenders \| November 13, 2024 through November 13, 2025
Debt Instrument [Line Items]
Percentage of prepayment premium	2.00%
Trinity Term Loan Agreement \| Trinity Term Loans \| Trinity Lenders \| November 13, 2025 through, but excluding, the Maturity Date
Debt Instrument [Line Items]
Percentage of prepayment premium	1.00%
Trinity Term Loan Agreement \| Trinity Term Loans \| Trinity Lenders \| General and Administrative Expense
Debt Instrument [Line Items]
Debt issuance costs			$ 900,000
Trinity Term Loan Agreement \| Trinity Term Loans \| Prime Rate \| Trinity Lenders
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate	4.50%
Success Fee Agreement
Debt Instrument [Line Items]
Percentage of calculated discounted cash flows of discount rate			15.68%
Success Fee Agreement \| Trinity Term Loans \| Trinity Lenders
Debt Instrument [Line Items]
Success fee liability at fair value			$ 800,000
Fair value of loan at issuance			39,200,000
Percentage of principal amount of terms regarding fee	10.00%
Expiration Period	10 years
Through December 31, 2021 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity		$ 40,000,000.0
Debt instrument, maturity date		Dec. 31, 2021
January 1, 2022 until September 30, 2022 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity		$ 20,000,000.0	$ 20,000,000.0
Debt instrument, maturity start date		Jan. 01, 2022
Debt instrument, maturity end date		Sep. 30, 2022	Sep. 30, 2022
Number of distinct and active clinical stage \| Program		3
Proceeds from term loan			$ 0
January 1, 2022 until March 31, 2023 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity			$ 20,000,000.0
Debt instrument, maturity end date			Mar. 31, 2023
Proceeds from term loan			$ 0
October 1, 2022 until March 31, 2023 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity		$ 20,000,000.0
Debt instrument, maturity start date		Oct. 01, 2022
Debt instrument, maturity end date		Mar. 31, 2023
Number of distinct and active clinical stage \| Program		3
April 1, 2023 until December 31, 2023 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity		$ 20,000,000.0
Debt instrument, maturity start date		Apr. 01, 2023
Debt instrument, maturity end date		Dec. 31, 2023
Through August 13, 2023
Debt Instrument [Line Items]
Percentage of prepayment premium		1.00%