Fair Value Measurements - Schedule of Financial Assets and Liabilities Measured at Fair Value on a Recurring Basis (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets	$ 122,916	$ 142,425
Trinity Term Loans	40,512	40,508
Success Fee Derivative liability	826	800
SSI Warrant liability	791	454
Total liabilities	42,129	41,762
Money Market Funds
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents - money market funds	122,916	142,425
Level 1
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets	122,916	142,425
Level 1 | Money Market Funds
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents - money market funds	122,916	142,425
Level 3
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Trinity Term Loans	40,512	40,508
Success Fee Derivative liability	826	800
SSI Warrant liability	791	454
Total liabilities	$ 42,129	$ 41,762