Net Loss Per Share - Summary of Potentially Dilutive Securities Excluded from Computation of Diluted Weighted-Average Shares of Common Stock Outstanding (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Earnings Per Share [Abstract]
Outstanding stock options and restricted stock units	3,470,172	4,263,243
Convertible preferred stock warrants	580,729	248,372
Common stock warrants	75,305	1,915,372
Convertible preferred stock		46,467,565
Total	4,126,206	52,894,552