Long-Term Debt - Schedule of Future Minimum Principal and Interest Payments (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Disclosure [Abstract]
2024	$ 2,206
2025	5,886
2026	4,510
Total future minimum payments	12,602
Less: interest, Final Payment fee	(2,102)
Total debt	10,500	$ 10,500
Less: issuance costs	(287)	(435)
Total debt, net of issuance costs	$ 10,213	$ 10,065