Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Employee-related expenses	$ 5,962	$ 4,408
Professional fees	1,245	1,701
Clinical expenses	1,495	532
Research and development expenses	1,059	569
Manufacturing expenses	842	328
Other	274	351
Total accrued liabilities	$ 10,877	$ 7,889