Fair Value Measurements - Schedule of Changes in Fair Values (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	$ 821	$ 2,373
Change in fair value	$ (517)	$ 1,475
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Fair Value Adjustment of Warrants	Fair Value Adjustment of Warrants
Exercise of warrants		$ (18)
Ending Balance	$ 304	3,830
Preferred Stock Warrants (as Converted to Common)
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	642	1,777
Change in fair value	(409)	826
Exercise of warrants		(18)
Ending Balance	233	2,585
Common Stock Warrants
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	179	596
Change in fair value	(108)	649
Ending Balance	71	1,245
Public Warrants
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	67,699	178
Fair value upon issuance		13,600
Change in fair value	(15,618)	29
Change in fair value - OCI	2,200
Ending Balance	54,281	13,807
Public Warrants | Success Fee Derivative Liability
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	14	178
Change in fair value		29
Ending Balance	14	207
Public Warrants | 2023 Convertible Notes
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Fair value upon issuance		13,600
Ending Balance		$ 13,600
Public Warrants | Term Loan Derivative Liability
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	1,895
Change in fair value	62
Ending Balance	1,957
Public Warrants | Revenue Interest Financing
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	36,200
Change in fair value	(3,400)
Change in fair value - OCI	2,200
Ending Balance	35,000
Public Warrants | PIPE Conversion Derivative
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	5,600
Change in fair value	1,910
Ending Balance	7,510
Public Warrants | Earn-Out Liability
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning Balance	23,990
Change in fair value	(14,190)
Ending Balance	$ 9,800