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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - Employee stock option - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2024
Dec. 31, 2023
Number of Options    
Beginning balance (in shares) 2,291,328  
Granted (in shares) 0  
Exercised (in shares) 0  
Forfeited, expired and cancelled (in shares) (293,862)  
Ending balance (in shares) 1,997,466 2,291,328
Exercisable (in shares) 1,540,180  
Vested and expected to vest, number of options (in shares) 1,997,466  
Weighted- Average Exercise Price    
Beginning balance (in dollars per share) $ 2.49  
Granted (in dollars per share) 0  
Exercised (in dollars per share) 0  
Forfeited, expired and cancelled (in dollars per share) 5.05  
Ending balance (in dollars per share) 2.12 $ 2.49
Exercisable (in dollars per share) 2.55  
Vested and expected to vest, weighted-average exercise price (in dollars per share) $ 2.12  
Weighted- Average Remaining Contractual Term (years)    
Weighted average remaining contractual term (in years) 6 years 9 months 18 days 6 years 4 months 24 days
Weighted average remaining contractual term, exercisable (in years) 6 years 1 month 6 days  
Vested and expected to vest, weighted-average remaining contractual term (in years) 6 years 9 months 18 days  
Aggregate Intrinsic Value (in thousands)    
Beginning aggregate intrinsic value $ 311  
Ending aggregate intrinsic value 107 $ 311
Exercisable aggregate intrinsic value 54  
Vested and expected to vest, aggregate intrinsic value $ 107