Net Loss Per Share - Schedule of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023
Earnings Per Share [Abstract]
Net loss	$ 10,707	$ 7,856	$ 7,560	$ 9,085	$ 18,563	$ 16,645
Net loss attributable to common stockholders, basic	10,707		7,560		18,563	16,645
Net loss attributable to common stockholders, diluted	$ 10,707		$ 7,560		$ 18,563	$ 16,645
Weighted-average number of common shares used in net loss per share, basic	40,555,518		39,570,464		40,384,338	39,504,882
Weighted-average number of common shares used in net loss per share, diluted	40,555,518		39,570,464		40,384,338	39,504,882
Net loss per share of common stock, basic	$ 0.26		$ 0.19		$ 0.46	$ 0.42
Net loss per share of common stock, diluted	$ 0.26		$ 0.19		$ 0.46	$ 0.42