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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Aug. 31, 2023
Jul. 21, 2023
Oct. 18, 2022
Aug. 08, 2022
Dec. 31, 2023
Dec. 31, 2022
Class Of Stock [Line Items]            
Common shares registered for resale 21,900   24,600      
Proceeds from issuance of common stock         $ 29,755 $ 75,145
Private Placement            
Class Of Stock [Line Items]            
Shares of common stock sold       16,100    
Purchase price per share       $ 3.10    
Proceeds from issuance of common stock and pre-funded warrants       $ 75,100    
Stock issuance cost       $ 1,400    
Pre-funded Warrants            
Class Of Stock [Line Items]            
Purchase price per share   $ 1.3699   $ 3.0999    
Class of warrant or right, number of securities called by warrants or rights   1,200   8,500    
Class of warrant or right, exercise price of warrants or rights   $ 0.0001   $ 0.0001    
2023 Private Placement            
Class Of Stock [Line Items]            
Shares of common stock sold   20,700        
Purchase price per share   $ 1.37        
Proceeds from issuance of common stock and pre-funded warrants   $ 29,800        
Stock issuance cost   $ 200        
Common Stock | Private Placement            
Class Of Stock [Line Items]            
Shares of common stock sold         20,735 16,129