Fair Value of Financial Instruments - Schedule of Fair Value, Assets and Liabilities Measured on Recurring Basis (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Assets
Short-term investments:	$ 139,546
Level 1
Assets
Short-term investments:	0
Level 2
Assets
Short-term investments:	139,546
Level 3
Assets
Short-term investments:	0
Fair Value, Recurring
Assets
Short-term investments:		$ 139,158
Total financial assets	161,339	149,501
Liabilities
Warrant liabilities	250	229
Total financial liabilities	250	229
Fair Value, Recurring \| Commercial paper
Assets
Short-term investments:	82,917	80,620
Fair Value, Recurring \| Corporate debt and U.S. government agency securities
Assets
Short-term investments:	56,629	58,538
Fair Value, Recurring \| Level 1
Assets
Short-term investments:		0
Total financial assets	21,793	7,354
Liabilities
Warrant liabilities	0	0
Total financial liabilities	0	0
Fair Value, Recurring \| Level 1 \| Commercial paper
Assets
Short-term investments:	0	0
Fair Value, Recurring \| Level 1 \| Corporate debt and U.S. government agency securities
Assets
Short-term investments:	0	0
Fair Value, Recurring \| Level 2
Assets
Short-term investments:		139,158
Total financial assets	139,546	142,147
Liabilities
Warrant liabilities	0	0
Total financial liabilities	0	0
Fair Value, Recurring \| Level 2 \| Commercial paper
Assets
Short-term investments:	82,917	80,620
Fair Value, Recurring \| Level 2 \| Corporate debt and U.S. government agency securities
Assets
Short-term investments:	56,629	58,538
Fair Value, Recurring \| Level 3
Assets
Short-term investments:		0
Total financial assets	0	0
Liabilities
Warrant liabilities	250	229
Total financial liabilities	250	229
Fair Value, Recurring \| Level 3 \| Commercial paper
Assets
Short-term investments:	0	0
Fair Value, Recurring \| Level 3 \| Corporate debt and U.S. government agency securities
Assets
Short-term investments:	0	0
Money market funds \| Fair Value, Recurring
Assets
Cash and cash equivalents:	21,793	7,354
Money market funds \| Fair Value, Recurring \| Level 1
Assets
Cash and cash equivalents:	21,793	7,354
Money market funds \| Fair Value, Recurring \| Level 2
Assets
Cash and cash equivalents:	0	0
Money market funds \| Fair Value, Recurring \| Level 3
Assets
Cash and cash equivalents:	$ 0	0
Commercial paper \| Fair Value, Recurring
Assets
Cash and cash equivalents:		2,989
Commercial paper \| Fair Value, Recurring \| Level 1
Assets
Cash and cash equivalents:		0
Commercial paper \| Fair Value, Recurring \| Level 2
Assets
Cash and cash equivalents:		2,989
Commercial paper \| Fair Value, Recurring \| Level 3
Assets
Cash and cash equivalents:		$ 0

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- Definition

Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482106/820-10-50-2

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- Definition

Fair value portion of currency on hand as well as demand deposits with banks or financial institutions. Includes other kinds of accounts that have the general characteristics of demand deposits. Also includes short-term, highly liquid investments that are both readily convertible to known amounts of cash and so near their maturity that they present insignificant risk of changes in value because of changes in interest rates.

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- Definition

Amount excluding accrued interest, of investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale).

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 326
-SubTopic 30
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479130/326-30-45-1

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- Definition

Fair value of financial obligations, including, but not limited to, debt instruments, derivative liabilities, federal funds purchased and sold under agreements to repurchase, securities loaned or sold under agreements to repurchase, financial instruments sold not yet purchased, guarantees, line of credit, loans and notes payable, servicing liability, and trading liabilities.

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