Net Loss Per Share - Schedule of Calculation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Numerator:
Net loss	$ (12,517)	$ (9,448)	$ (22,403)	$ (18,550)
Net loss	$ (12,517)	$ (9,448)	$ (22,403)	$ (18,550)
Denominator:
Weighted-average number of common shares outstanding, basic (in shares)	97,048,734	85,216,827	93,538,477	84,932,542
Weighted-average number of common shares outstanding, diluted (in shares)	97,048,734	85,216,827	93,538,477	84,932,542
Basic net loss per common share (in dollars per share)	$ (0.13)	$ (0.11)	$ (0.24)	$ (0.22)
Diluted net loss per common share (in dollars per share)	$ (0.13)	$ (0.11)	$ (0.24)	$ (0.22)