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Stock-Based Compensation - Schedule of Stock-Based Compensation Expense Related to Common Stock Options and Restricted Shares of Common Stock (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]            
Total stock-based compensation $ 763 $ 992 $ 2,680 $ 3,110 [1] $ 4,271 [2] $ 9,323 [2]
Research and development [Member]            
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]            
Total stock-based compensation 562 408 1,761 1,358 2,080 509
Selling and marketing [Member]            
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]            
Total stock-based compensation 12 85 123 (351) (279) 494
General and administrative [Member]            
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]            
Total stock-based compensation $ 189 $ 499 $ 796 $ 2,103 $ 2,470 $ 8,320
[1] As described in Note 15 to these unaudited condensed consolidated financial statements, we have restated the unaudited condensed consolidated statement of cash flows for the nine months ended September 30, 2023.
[2] As described in Note 3 to the Consolidated Financial Statements appearing elsewhere in this Amendment, we have restated the Consolidated Financial Statements.