Income Taxes - Schedule of Deferred Tax Assets And Liabilities (Details) - USD ($)	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 19,968	$ 17,360
Research and development tax credits	3,029	2,157
Stock based compensation	399	246
Capitalized research costs	2,491	1,338
Lease liability	545	299
Reserves and accruals	2,773	1,535
Other	54
Total deferred tax assets	29,259	22,935
Less: valuation allowance	(24,281)	(22,608)
Total deferred tax assets, net of valuation allowance	4,978	327
Deferred tax liabilities:
Fixed assets and intangibles	(447)	(50)
Right of use leased assets	(528)	(277)
Debt Discount	(3,982)
Total deferred tax liabilities	(4,957)	$ (327)
Net deferred tax assets	$ 21