Stock-Based Compensation - Summary of Stock Options Activity (Details) - Stock Options [Member] - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Outstanding, Beginning balance	3,846,532
Number of Options, Granted	616,235
Number of Options, Exercised	(51,774)
Number of Options, Forfeited	(280,793)
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period	(88,393)
Number of Options, Outstanding, Ending balance	4,041,807	3,846,532
Number of Options, Exercisable, Ending balance	2,201,714
Number of Options, Vested and expected to vest	3,757,125
Weighted Average Exercise Price per Share, Options outstanding, Beginning balance	$ 7.02
Weighted Average Exercise Price per Share, Granted	5.03
Weighted Average Exercise Price per Share, Exercised	1.47
Weighted Average Exercise Price per Share, Forfeited	(10.17)
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price	14.34
Weighted Average Exercise Price per Share, Options outstanding, Ending balance	6.41	$ 7.02
Weighted Average Exercise Price per Share, Exercisable, Ending balance	5.63
Weighted Average Exercise Price per Share, Vested and expected to vest	$ 6.86
Weighted Average Remaining Contractual Term (in years), Options outstanding	7 years 6 months 10 days	8 years 3 months 21 days
Weighted Average Remaining Contractual Term (in years), Exercisable	7 years 2 months 15 days
Weighted Average Remaining Contractual Term (in years), Vested and expected to vest	7 years 8 months 19 days
Aggregate Intrinsic Value, Options outstanding	$ 5,159	$ 9,083
Aggregate Intrinsic Value, Exercisable	3,692
Aggregate Intrinsic Value, Vested and expected to vest	$ 4,226