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Restatement of Previously Issued Consolidated Financial Statements - Corrected Condensed Consolidated Statements of Stockholders' Equity (Unaudited) (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Jun. 30, 2023 | Sep. 30, 2023 | Dec. 31, 2023 | Dec. 31, 2022
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |
Beginning Balance | $ 43,768 | $ 74,792 | $ 84,183 | $ 84,183 | $ 84,183 | $ 84,183 | $ 163,995
Issuance of common stock and pre-funded warrants in connection with Securities Purchase Agreement, net of issuance costs, Value |  | 33,017 |  |  |  | 33,017 |
Issuance of common stock in connection with conversion of X1 non-voting convertible preferred stock, Value |  |  |  |  |  | (1) |
Issuance of common stock in connection with exercise of pre-funded warrants, Value |  |  |  |  |  | 1 |
Stock-based compensation | 1,734 | 1,720 | 1,381 |  |  | 6,545 | 8,153
Net loss and comprehensive loss | (9,906) | (65,760) | (10,772) | (76,532) | (86,438) | (116,537) | (87,966)
Ending Balance | 35,597 | 43,768 | 74,792 | 43,768 | 35,597 | 7,208 | 84,183
As Previously Reported [Member] |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |
Beginning Balance | 99,949 | 74,792 | 84,183 | 84,183 | 84,183 | 84,183 |
Issuance of common stock and pre-funded warrants in connection with Securities Purchase Agreement, net of issuance costs, Value |  | 33,017 |  |  |  | 33,017 |
Issuance of common stock in connection with conversion of X1 non-voting convertible preferred stock, Value |  |  |  |  |  | (1) |
Issuance of common stock in connection with exercise of pre-funded warrants, Value |  |  |  |  |  | 1 |
Stock-based compensation | 1,734 | 1,720 | 1,381 |  |  | 6,545 |
Net loss and comprehensive loss | (10,349) | (9,579) | (10,772) | (20,351) | (30,700) | (40,326) |
Ending Balance | 91,335 | 99,949 | 74,792 | 99,949 | 91,335 | 83,419 | 84,183
Restatement Impact [Member] |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |
Beginning Balance | (56,181) | 0 |  |  |  |  |
Net loss and comprehensive loss | 443 | (56,181) |  | (56,181) | (55,738) | (76,211) |
Ending Balance | (55,738) | (56,181) | 0 | (56,181) | (55,738) | (76,211) |
Accumulated Deficit [Member] |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |
Beginning Balance | (279,397) | (213,637) | (202,865) | (202,865) | (202,865) | (202,865) | (114,899)
Net loss and comprehensive loss | (9,906) | (65,760) | (10,772) |  |  | (116,537) | (87,966)
Ending Balance | (289,303) | (279,397) | (213,637) | (279,397) | (289,303) | (319,402) | (202,865)
Accumulated Deficit [Member] | As Previously Reported [Member] |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |
Beginning Balance | (223,216) | (213,637) | (202,865) | (202,865) | (202,865) | (202,865) |
Net loss and comprehensive loss | (10,349) | (9,579) | (10,772) |  |  | (40,326) |
Ending Balance | (233,565) | (223,216) | (213,637) | (223,216) | (233,565) | (243,191) | $ (202,865)
Accumulated Deficit [Member] | Restatement Impact [Member] |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |
Beginning Balance | (56,181) | 0 |  |  |  |  |
Net loss and comprehensive loss | 443 | (56,181) |  |  |  | (76,211) |
Ending Balance | $ (55,738) | $ (56,181) | $ 0 | $ (56,181) | $ (55,738) | $ (76,211) |

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