Stock Based Compensation - Summary of Stock Option Activity Under the Plan (Details) - 2010 Plan, 2020 Plan, 2023 Plan - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of Options, Beginning balance	3,886,038
Number of Options, Granted	226,244
Number of Options, Cancellations and forfeitures	(178,812)
Number of Options, Exercised	(4,646)
Number of Options, Ending balance	3,928,824	3,886,038
Number of Options, Exercisable	2,814,622
Weighted-Average Exercise Price, Beginning balance	$ 2.67
Weighted-Average Exercise Price, Granted	2.96
Weighted-Average Exercise Price, Cancellations and forfeitures	3.23
Weighted-Average Exercise Price, Exercised	1.74
Weighted-Average Exercise Price, Ending balance	2.67	$ 2.67
Weighted-Average Exercise Price, Exercisable	$ 2.31
Weighted-Average Remaining Contractual Term	6 years 6 months	6 years 10 months 24 days
Weighted-Average Remaining Contractual Term, Exercisable	5 years 9 months 18 days
Aggregate Intrinsic Value, Outstanding	$ 1,087	$ 5,565
Aggregate Intrinsic Value, Exercisable	$ 1,028