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Fair Value of Financial Instruments - Schedule of Fair Value, Assets and Liabilities Measured on Recurring Basis (Details) - USD ($) $ in Thousands | Jun. 30, 2024 | Dec. 31, 2023
--- | --- | ---
Fair Value, Recurring |  |
Assets |  |
Short-term investments: | $ 131,557 | $ 139,158
Total financial assets | 149,921 | 149,501
Liabilities |  |
Warrant liabilities | 256 | 229
Total financial liabilities | 256 | 229
Fair Value, Recurring | Commercial paper |  |
Assets |  |
Short-term investments: | 72,690 | 80,620
Fair Value, Recurring | Corporate debt and U.S. government agency securities |  |
Assets |  |
Short-term investments: | 58,867 | 58,538
Fair Value, Recurring | Level 1 |  |
Assets |  |
Short-term investments: | 0 | 0
Total financial assets | 18,364 | 7,354
Liabilities |  |
Warrant liabilities | 0 | 0
Total financial liabilities | 0 | 0
Fair Value, Recurring | Level 1 | Commercial paper |  |
Assets |  |
Short-term investments: | 0 | 0
Fair Value, Recurring | Level 1 | Corporate debt and U.S. government agency securities |  |
Assets |  |
Short-term investments: | 0 | 0
Fair Value, Recurring | Level 2 |  |
Assets |  |
Short-term investments: | 131,557 | 139,158
Total financial assets | 131,557 | 142,147
Liabilities |  |
Warrant liabilities | 0 | 0
Total financial liabilities | 0 | 0
Fair Value, Recurring | Level 2 | Commercial paper |  |
Assets |  |
Short-term investments: | 72,690 | 80,620
Fair Value, Recurring | Level 2 | Corporate debt and U.S. government agency securities |  |
Assets |  |
Short-term investments: | 58,867 | 58,538
Fair Value, Recurring | Level 3 |  |
Assets |  |
Short-term investments: | 0 | 0
Total financial assets | 0 | 0
Liabilities |  |
Warrant liabilities | 256 | 229
Total financial liabilities | 256 | 229
Fair Value, Recurring | Level 3 | Commercial paper |  |
Assets |  |
Short-term investments: | 0 | 0
Fair Value, Recurring | Level 3 | Corporate debt and U.S. government agency securities |  |
Assets |  |
Short-term investments: | 0 |
Money market funds |  |
Assets |  |
Cash and cash equivalents: | 18,364 | 7,354
Money market funds | Fair Value, Recurring |  |
Assets |  |
Cash and cash equivalents: | 18,364 | 7,354
Money market funds | Fair Value, Recurring | Level 1 |  |
Assets |  |
Cash and cash equivalents: | 18,364 | 7,354
Money market funds | Fair Value, Recurring | Level 2 |  |
Assets |  |
Cash and cash equivalents: | 0 | 0
Money market funds | Fair Value, Recurring | Level 3 |  |
Assets |  |
Cash and cash equivalents: | 0 | 0
Commercial paper |  |
Assets |  |
Cash and cash equivalents: | 0 | 2,989
Commercial paper | Fair Value, Recurring |  |
Assets |  |
Cash and cash equivalents: |  | 2,989
Commercial paper | Fair Value, Recurring | Level 1 |  |
Assets |  |
Cash and cash equivalents: |  | 0
Commercial paper | Fair Value, Recurring | Level 2 |  |
Assets |  |
Cash and cash equivalents: | $ 0 | 2,989
Commercial paper | Fair Value, Recurring | Level 3 |  |
Assets |  |
Cash and cash equivalents: |  | $ 0

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