Stock-Based Awards - Schedule of Share-based Compensation Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2024 USD ($) $ / shares shares	Dec. 31, 2023 USD ($) $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Weighted Average Grant Date Fair Value Per Share, Beginning balance | $ / shares	$ 1.11
Weighted Average Grant Date Fair Value Per Share, RSUs forfeited | $ / shares	0.21
Weighted Average Grant Date Fair Value Per Share, RSUs Vested | $ / shares	1.50
Weighted Average Grant Date Fair Value Per Share, Ending balance | $ / shares	$ 1.24	$ 1.11
2021 Equity Incentive Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of Options Outstanding, Beginning balance | shares	10,824
Number of RSUs Outstanding, Beginning balance | shares	668
Weighted Average Exercise Price of Options Outstanding, Beginning balance | $ / shares	$ 1.42
Number of Options Outstanding, Options granted | shares	6,028
Weighted Average Exercise Price of Options Outstanding, Options granted | $ / shares	$ 1.12
Number of Options Outstanding, Options exercised | shares	(20)
Weighted Average Exercise Price of Options, Options exercised | $ / shares	$ 1.4
Number of Options Outstanding, Options forfeited | shares	(542)
Weighted Average Exercise Price of Options Outstanding, Options expired/forfeited/cancelled | $ / shares	$ 1.37
Number of RSUs Outstanding, RSUs forfeited | shares	(100)
Number of RSUs Outstanding, RSUs vested | shares	(67)
Number of Options Outstanding, Ending balance | shares	16,290	10,824
Number of RSUs Outstanding, Ending balance | shares	501	668
Weighted Average Exercise Price of Options Outstanding, Ending balance | $ / shares	$ 1.31	$ 1.42
Number of Options exercisable | shares	4,528
Number of Options Exercisable and Expected to Vest | shares	16,290
Weighted Average Exercise Price of Options exercisable | $ / shares	$ 1.42
Weighted Average Exercise Price of Options exercisable and expected to vest | $ / shares	$ 1.31
Weighted Average Remaining Contractual Team (Years),Options Outstanding	8 years 7 months 24 days	8 years 7 months 17 days
Weighted Average Remaining Contractual Team (Years),Options exercisable	7 years 8 months 12 days
Weighted Average Remaining Contractual Team (Years), Options exercisable and expected to vest	8 years 7 months 24 days
Aggregate Intrinsic Value, Options Outstanding | $	$ 26	$ 4
Aggregate Intrinsic Value, Options exercisable and expected to vest | $	$ 26
2012 Equity Incentive Plan and 2018 Inducement Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of Options Outstanding, Beginning balance | shares	10,839
Weighted Average Exercise Price of Options Outstanding, Beginning balance | $ / shares	$ 1.83
Number of Options Outstanding, Options exercised | shares	(254)
Weighted Average Exercise Price of Options, Options exercised | $ / shares	$ 0.75
Number of Options Outstanding, Options forfeited | shares	(496)
Weighted Average Exercise Price of Options Outstanding, Options expired/forfeited/cancelled | $ / shares	$ 2.15
Number of Options Outstanding, Ending balance | shares	10,089	10,839
Weighted Average Exercise Price of Options Outstanding, Ending balance | $ / shares	$ 1.84	$ 1.83
Number of Options exercisable | shares	9,415
Weighted Average Exercise Price of Options exercisable | $ / shares	$ 1.8