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Restatement of Previously Issued Consolidated Financial Statements - Summary of Impact of Correction of Misstatements - Corrected Condensed Consolidated Statements of Stockholders' Equity (Deficit) (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Mar. 31, 2024
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2024
Jun. 30, 2023
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Beginning Balance $ (14,728) $ 7,208 $ 74,792 $ 84,183 $ 7,208 $ 84,183
Issuance of common stock and pre-funded warrants in connection with Securities Purchase Agreement, net of issuance costs, Value 48,070   33,017      
Stock-based compensation 3,063 1,694 1,720 1,381    
Net loss and comprehensive loss (44,907) (23,631) (65,760) (10,772) (68,538) (76,532)
Ending Balance (8,501) (14,728) 43,768 74,792 (8,501) 43,768
Accumulated Deficit [Member]            
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Beginning Balance (343,033) (319,402) (213,637) (202,865) (319,402) (202,865)
Net loss and comprehensive loss (44,907) (23,631) (65,760) (10,772)    
Ending Balance $ (387,940) $ (343,033) (279,397) (213,637) $ (387,940) (279,397)
As Previously Reported [Member]            
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Beginning Balance     74,792 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      
Stock-based compensation     1,720 1,381    
Net loss and comprehensive loss     (9,579) (10,772)   (20,351)
Ending Balance     99,949 74,792   99,949
As Previously Reported [Member] | Accumulated Deficit [Member]            
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Beginning Balance     (213,637) (202,865)   (202,865)
Net loss and comprehensive loss     (9,579) (10,772)    
Ending Balance     (223,216) $ (213,637)   (223,216)
Restatement Impact [Member]            
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Net loss and comprehensive loss     (56,181)     (56,181)
Ending Balance     (56,181)     (56,181)
Restatement Impact [Member] | Accumulated Deficit [Member]            
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Net loss and comprehensive loss     (56,181)      
Ending Balance     $ (56,181)     $ (56,181)