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The Company (Details) - USD ($) $ in Thousands | 1 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Nov. 30, 2023 | Nov. 30, 2022 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Finite-Lived Intangible Assets [Line Items] |  |  |  |  |
Accumulated deficit |  |  | $ 520,248 |  | $ 503,809
Net cash used in operating activities |  |  | 11,428 | $ 14,058 |
Cash, cash equivalents, and short-term investments |  |  | 55,500 |  |
Minimum annual net revenue |  |  | 70,000 |  |
Minimum cash and cash equivalents required after completion of IPO |  |  | 5,000 |  |
At-the-Market Equity Offering |  |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |  |
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% |  |  |
Number of shares issued in transaction (in shares) | 933,500 |  |  |  |
Issuance of common stock |  | $ 8,100 |  |  |
Aggregate net proceeds |  | $ 7,600 |  |  |
Amount remaining under ATM program |  |  | $ 41,900 |  |

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