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The Company (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 12 Months Ended
Apr. 26, 2021
Nov. 30, 2022
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items]            
Accumulated deficit     $ 481,228     $ 470,853
Net cash used in operating activities     9,698 $ 11,393    
Cash, cash equivalents, and short-term investments     $ 67,600      
Forecast            
Finite-Lived Intangible Assets [Line Items]            
Minimum annual net revenue         $ 45,000  
Minimum cash and cash equivalents required after completion of IPO         $ 5,000  
IPO            
Finite-Lived Intangible Assets [Line Items]            
Number of shares issued in transaction (in shares) 6,900,000          
Sale of stock (in dollars per share) $ 17.00          
Proceeds from issuance initial public offering $ 117,300          
Consideration received on transaction 105,500          
Sale of stock, underwriting discounts 8,200          
Sale of stock, offering costs $ 3,600          
Over-Allotment Option            
Finite-Lived Intangible Assets [Line Items]            
Number of shares issued in transaction (in shares) 900,000          
At-the-Market Equity Offering            
Finite-Lived Intangible Assets [Line Items]            
Number of shares issued in transaction (in shares)     0      
Proceeds from issuance of preferred stock, preference stock, and warrants   $ 150,000        
Proceeds from issuance or sale by company of common stock   $ 50,000        
Percentage of shares of common stock sold under sales agreement   3.00%