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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)