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Stockholders' Equity - Private Placement Warrants (Details) - Private Placement Warrants $ in Millions | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2024 USD ($) $ / shares year | Jun. 30, 2023 USD ($) | Jun. 30, 2024 USD ($) $ / shares year | Jun. 30, 2023 USD ($) | Dec. 31, 2023 USD ($) $ / shares year | Aug. 26, 2021 USD ($)
Class of Warrant or Right [Line Items] |  |  |  |  |  |
Common stock warrant liabilities | $ | $ 0.3 |  | $ 0.3 |  | $ 0.1 | $ 0.6
Change in fair value of derivative liabilities | $ | $ (0.2) | $ (0.1) | $ (0.2) | $ (0.1) |  |
Market price of public stock |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |
Warrants, measurement input | $ / shares | 4.80 |  | 4.80 |  | 2.84 |
Exercise price |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |
Warrants, measurement input | $ / shares | 11.50 |  | 11.50 |  | 11.50 |
Expected term (years) |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |
Warrants, measurement input | year | 2.16 |  | 2.16 |  | 2.65 |
Expected share price volatility |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |
Warrants, measurement input | 0.960 |  | 0.960 |  | 0.750 |
Risk-free interest rate |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |
Warrants, measurement input | 0.0468 |  | 0.0468 |  | 0.0409 |
Estimated dividend yield |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |
Warrants, measurement input | 0 |  | 0 |  | 0 |

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