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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
Mar. 31, 2024
Mar. 31, 2023
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Beginning Balance $ 7,208 $ 84,183
Issuance of common stock in connection with exercise of pre-funded warrants, Value 1  
Stock-based compensation 1,694 1,381
Net loss and comprehensive loss (23,631) (10,772)
Ending Balance (14,728) 74,792
Accumulated Deficit [Member]    
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Beginning Balance (319,402) (202,865)
Net loss and comprehensive loss (23,631) (10,772)
Ending Balance (343,033) $ (213,637)
As Previously Reported [Member]    
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Beginning Balance 83,419  
Issuance of common stock in connection with exercise of pre-funded warrants, Value 1  
Stock-based compensation 1,694  
Net loss and comprehensive loss (10,295)  
Ending Balance 74,819  
As Previously Reported [Member] | Accumulated Deficit [Member]    
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Beginning Balance (243,191)  
Net loss and comprehensive loss (10,295)  
Ending Balance (253,486)  
Restatement Impact [Member]    
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Beginning Balance (76,211)  
Net loss and comprehensive loss (13,336)  
Ending Balance (89,547)  
Restatement Impact [Member] | Accumulated Deficit [Member]    
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Beginning Balance (76,211)  
Net loss and comprehensive loss (13,336)  
Ending Balance $ (89,547)