Stock-Based Compensation - Summary of Share-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total	$ 6,807	$ 9,309
Research and Development
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total	2,526	3,493
Selling, General and Administrative
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total	$ 4,281	$ 5,816