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Stock-Based Compensation - Summary of Stock Options Activity (Details) - Stock Options [Member]
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2024
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding, Beginning balance | shares 4,041,807  
Number of Options, Granted | shares 730,100  
Number of Options, Exercised | shares (1,779)  
Number of Options, Forfeited | shares (470,342)  
Number of Options expired | shares (320,156)  
Number of Options Outstanding, Ending Balance | shares 3,979,630 4,041,807
Number of Options, Exercisable, Ending balance | shares 2,310,762  
Number of Options, Vested and expected to vest, Ending balance | shares 3,694,948  
Weighted Average Exercise Price per Share, Options outstanding, Beginning balance | $ / shares $ 6.41  
Weighted Average Exercise Price per Share, Granted | $ / shares 2.86  
Weighted Average Exercise Price per Share, Exercised | $ / shares 1.97  
Weighted Average Exercise Price per Share, forfeited | $ / shares 9.12  
Weighted Average Exercise Price Per Share, Expired | $ / shares 11.94  
Weighted Average Exercise Price per Share, Options outstanding, Ending balance | $ / shares 5 $ 6.41
Weighted Average Exercise Price per Share, Exercisable, Ending balance | $ / shares 5.22  
Weighted Average Exercise Price per share, Vested and expected to vest, Ending balance | $ / shares $ 5.35  
Weighted Average Remaining Contractual Term (in years), Options outstanding   7 years 6 months 10 days
Weighted Average Remaining Contractual Term (in years), Options outstanding 7 years 29 days  
Weighted Average Remaining Contractual Term (in years), Exercisable 6 years 5 months 26 days  
Weighted Average Remaining Contractual Term (in years), Vested and expected to vest 7 years 3 months 14 days  
Aggregate Intrinsic Value, Options outstanding | $ $ 8,262 $ 5,159
Aggregate Intrinsic Value, Exercisable | $ 5,362  
Aggregate Intrinsic Value, Vested and expected to vest | $ $ 7,013