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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