Fair Value Measurements - Hierarchy for Assets and Liabilities on a Recurring Basis (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Payment-dependent notes receivable, noncurrent	$ 6,236	$ 5,593
Payment-dependent notes payable, noncurrent	6,236	5,593
Warrant liabilities	5,169	9,616
Fair Value, Recurring
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Term deposits	7,621	7,694
Payment-dependent notes receivable, noncurrent	6,236	5,593
Total financial assets	124,601	145,640
Payment-dependent notes payable, noncurrent	6,236	5,593
Total financial liabilities	11,405	15,209
Term deposit, real estate lease agreement obligation	600	1,000
Fair Value, Recurring | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	2,067	4,889
Fair Value, Recurring | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	3,102	4,727
Fair Value, Recurring | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	108,579	130,132
Fair Value, Recurring | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	2,165	2,221
Fair Value, Recurring | Level 1
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Term deposits	0	0
Payment-dependent notes receivable, noncurrent	0	0
Total financial assets	108,579	130,132
Payment-dependent notes payable, noncurrent	0	0
Total financial liabilities	0	0
Fair Value, Recurring | Level 1 | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0	0
Fair Value, Recurring | Level 1 | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0	0
Fair Value, Recurring | Level 1 | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	108,579	130,132
Fair Value, Recurring | Level 1 | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	0	0
Fair Value, Recurring | Level 2
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Term deposits	7,621	7,694
Payment-dependent notes receivable, noncurrent	0	0
Total financial assets	9,786	9,915
Payment-dependent notes payable, noncurrent	0	0
Total financial liabilities	2,067	4,889
Fair Value, Recurring | Level 2 | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	2,067	4,889
Fair Value, Recurring | Level 2 | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0	0
Fair Value, Recurring | Level 2 | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	0	0
Fair Value, Recurring | Level 2 | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	2,165	2,221
Fair Value, Recurring | Level 3
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Term deposits	0	0
Payment-dependent notes receivable, noncurrent	6,236	5,593
Total financial assets	6,236	5,593
Payment-dependent notes payable, noncurrent	6,236	5,593
Total financial liabilities	9,338	10,320
Fair Value, Recurring | Level 3 | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0	0
Fair Value, Recurring | Level 3 | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	3,102	4,727
Fair Value, Recurring | Level 3 | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	0	0
Fair Value, Recurring | Level 3 | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	$ 0	$ 0