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Net Loss Per Share - Schedule of Calculation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Jun. 30, 2024
Mar. 31, 2024
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2024
Sep. 30, 2023
Numerator:                
Net loss $ (10,850) $ (12,517) $ (9,886) $ (8,492) $ (9,448) $ (9,102) $ (33,253) $ (27,042)
Add - increase in net loss due to the increase in fair value of modified stock warrants (727)     0     (727) 0
Net loss attributable to common stockholders (11,577)     (8,492)     (33,980) (27,042)
Net loss attributable to common stockholders $ (11,577)     $ (8,492)     $ (33,980) $ (27,042)
Denominator:                
Weighted-average number of common shares outstanding, basic (in shares) 110,408,303     86,354,067     99,202,799 85,411,590
Weighted-average number of common shares outstanding, diluted (in shares) 110,408,303     86,354,067     99,202,799 85,411,590
Basic net loss per common share (in dollars per share) $ (0.10)     $ (0.10)     $ (0.34) $ (0.32)
Diluted net loss per common share (in dollars per share) $ (0.10)     $ (0.10)     $ (0.34) $ (0.32)