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Debt - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 12 Months Ended
Jan. 31, 2024
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Jan. 22, 2024
Debt Instrument [Line Items]          
Gain (Loss) on Extinguishment of Debt   $ (1,962) $ 0    
Long-term Debt   35,000      
Fair value of warrants   600      
Long-term debt   33,697   $ 31,708  
Hercules Credit Agreement [Member]          
Debt Instrument [Line Items]          
Maximum borrowing capacity $ 65,000        
Line of credit achievement of certain performance milestones 10,000        
Line of Credit Facility, Remaining Borrowing Capacity $ 15,000        
Maturity date Jul. 01, 2028        
Interest in increments period $ 5,000        
Debt instrument, frequency of periodic payment 30 months        
Debt instrument interest payment extended term 36 months        
Debt instrument, variable rate 10.35%        
Debt Instrument, Interest Rate, Stated Percentage 10.85%        
Interest Rate During Period 5.95%        
Debt instrument, effective interest rate 2.35%        
Interest expense, debt   $ 100      
Warrants issued to purchase shares of convertible preferred stock   135,686      
Class of warrant exercise price   $ 5.159      
Line of credit facility, current borrowing capacity         $ 35,000
Hercules Credit Agreement [Member] | Tranche Two Loans          
Debt Instrument [Line Items]          
Maximum borrowing capacity $ 5,000        
Mid Cap Financial Services          
Debt Instrument [Line Items]          
Gain (Loss) on Extinguishment of Debt   $ 2,000      
Interest expense, debt       $ 1,500  
Mid Cap Financial Services | SOFR [Member]          
Debt Instrument [Line Items]          
Debt instrument, variable rate   7.00%      
Mid Cap Financial Services | Senior Secured 2019 Term Loan          
Debt Instrument [Line Items]          
Maximum borrowing capacity   $ 35,000      
Lenders [Member] | Hercules Credit Agreement [Member]          
Debt Instrument [Line Items]          
Warrants Expiration Term 7 years        
Warrants issued to purchase shares of convertible preferred stock 135,686        
Class of warrant exercise price $ 5.159        
MidCap Credit Facility Agreements [Member]          
Debt Instrument [Line Items]          
Long-term debt   $ 35,000      
Percentage of long term debt fee payable   6.00%