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 Shares Underlying Outstanding Options
Beginning balance (in shares)	1,871,649
Options exercised (in shares)	(54,374)
Options cancelled (in shares)	(6,403)
Ending balance (in shares)	1,810,872	1,871,649
Vested and expected to vest (in shares)	1,810,872
Exercisable (in shares)	1,578,366
Weighted- Average Exercise Price per Share
Beginning balance (in dollars per share)	$ 7.36
Options exercised (in dollars per share)	1.92
Options cancelled (in dollars per share)	16.90
Ending balance (in dollars per share)	7.49	$ 7.36
Weighted average exercise price, options vested and expected to vest (in dollars per share)	7.49
Weighted average exercise price, options exercisable (in dollars per share)	$ 7.42
Weighted- Average Remaining Contractual Term (in years)
Stock options outstanding, weighted average remaining contractual term	6 years 5 months 19 days	6 years 8 months 15 days
Stock options vested and expected to vest, weighted average remaining contractual term	6 years 5 months 19 days
Stock options exercisable, weighted average remaining contractual term	6 years 5 months 15 days
Aggregate Intrinsic Value
Beginning balance	$ 5,160
Ending balance	6,135	$ 5,160
Stock options vested and expected to vest, aggregate intrinsic value	6,135
Stock options exercisable, aggregate intrinsic value	$ 5,423