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Stockholders' Equity - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Options    
Outstanding, beginning of period (in shares) 2,235,052  
Granted (in shares) 2,218,757  
Exercised (in shares) (819)  
Expired (in shares) (141,059)  
Cancelled/Forfeited (in shares) (128,699)  
Outstanding, end of period (in shares) 4,183,232 2,235,052
Exercisable (in shares) 2,252,556  
Unvested at December 31, 2023 (in shares) 1,930,676  
Weighted Average Exercise Price Per Share    
Outstanding, Weighted Average Exercise Price Per Share, beginning of period (in dollars per share) $ 10.30  
Granted, Weighted Average Exercise Price Per Share (in dollars per share) 5.97  
Exercised, Weighted Average Exercise Price Per Share (in dollars per share) 4.67  
Expired, Weighted Average Exercise Price Per Share (in dollars per share) 8.40  
Cancelled-Forfeited, Weighted Average Exercise Price Per Share (in dollars per share) 7.02  
Outstanding, Weighted Average Exercise Price Per Share, end of period (in dollars per share) 8.17 $ 10.30
Weighted Average Exercise Price, Exercisable (in dollars per share) 9.93  
Weighted Average Exercise Price, Unvested (in dollars per share) 6.12  
Weighted Average Grant Date Fair Value Per Share    
Outstanding, Weighted average grant date fair value at beginning of period (in dollars per share) 9.40  
Weighted average estimated fair value of the stock options granted (in dollars per share) 5.62 6.05
Exercised, Weighted average grant date fair value (in dollars per share) 4.51  
Expired, Weighted average grant date fair value (in dollars per share) 5.76  
Cancelled/Forfeited, Weighted average grant date fair value (in dollars per share) 6.74  
Ending, Weighted average grant date fair value at beginning of period (in dollars per share) 7.60 $ 9.40
Exercisable, Weighted average grant date fair value (in dollars per share) 9.15  
Unvested Weighted average grant date fair value (in dollars per share) $ 5.79  
Weighted Average Remaining Contractual Term (in years) and Aggregate Intrinsic Value    
Weighted Average Remaining Contractual Term (in years) 8 years 3 months 18 days 7 years 8 months 12 days
Weighted Average Remaining Contractual Term (in years), Granted 9 years 1 month 6 days  
Weighted Average Remaining Contractual Term (Years), Exercisable 7 years 7 months 6 days  
Weighted Average Remaining Contractual Term (in years), Unvested 9 years 1 month 6 days  
Aggregate Intrinsic Value, Outstanding $ 147 $ 36
Aggregate Intrinsic Value, Exercised 1  
Aggregate Intrinsic Value, Exercisable 24  
Aggregate Intrinsic Value, Unvested $ 123