Stock-based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Number of Stock Options
Beginning balance (in shares)	55,596,831
Granted (in shares)	2,495,500
Exercised (in shares)	(868,826)
Canceled or forfeited (in shares)	(3,096,127)
Ending balance (in shares)	54,127,378	55,596,831
Exercisable (in shares)	31,963,665
Weighted- Average Exercise Price Per Share
Beginning balance (in dollars per share)	$ 4.75
Granted (in dollars per share)	1.83
Exercised (in dollars per share)	0.12
Cancelled or forfeited (in dollars per share)	5.57
Ending balance (in dollars per share)	4.64	$ 4.75
Exercisable (in dollars per share)	$ 5.17
Weighted- Average Remaining Contractual Life (in years)
Options Outstanding	7 years 2 months 12 days	6 years 10 months 20 days
Options Exercisable	6 years 2 months 8 days
Aggregate Intrinsic Value (in thousands)
Options Outstanding	$ 8,295	$ 7,368
Options Exercisable	$ 6,758