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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 9 Months Ended
Sep. 30, 2024
Jun. 30, 2024
Mar. 31, 2024
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2024
Sep. 30, 2023
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Beginning Balance $ (8,501) $ (14,728) $ 7,208 $ 43,768 $ 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 5,703 48,070     33,017      
Issuance of common stock in connection with exercise of pre-funded warrants, Value   1 1 1        
Issuance of common stock in connection with conversion of X1 non-voting convertible preferred stock, Value         (1)      
Stock-based compensation 1,783 3,063 1,694 1,734 1,720 1,381    
Net loss and comprehensive loss 76,971 (44,907) (23,631) (9,906) (65,760) (10,772) 8,433 (86,438)
Ending Balance 76,058 (8,501) (14,728) 35,597 43,768 74,792 76,058 35,597
Accumulated Deficit [Member]                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Beginning Balance (387,940) (343,033) (319,402) (279,397) (213,637) (202,865) (319,402) (202,865)
Net loss and comprehensive loss 76,971 (44,907) (23,631) (9,906) (65,760) (10,772)    
Ending Balance $ (310,969) $ (387,940) $ (343,033) (289,303) (279,397) (213,637) $ (310,969) (289,303)
As Previously Reported [Member]                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Beginning Balance       99,949 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      
Issuance of common stock in connection with exercise of pre-funded warrants, Value       1        
Issuance of common stock in connection with conversion of X1 non-voting convertible preferred stock, Value         (1)      
Stock-based compensation       1,734 1,720 1,381    
Net loss and comprehensive loss       (10,349) (9,579) (10,772)   (30,700)
Ending Balance       91,335 99,949 74,792   91,335
As Previously Reported [Member] | Accumulated Deficit [Member]                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Beginning Balance       (223,216) (213,637) (202,865)   (202,865)
Net loss and comprehensive loss       (10,349) (9,579) (10,772)    
Ending Balance       (233,565) (223,216) $ (213,637)   (233,565)
Restatement Impact [Member]                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Beginning Balance       (56,181)        
Net loss and comprehensive loss       443 (56,181)     (55,738)
Ending Balance       (55,738) (56,181)     (55,738)
Restatement Impact [Member] | Accumulated Deficit [Member]                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Beginning Balance       (56,181)        
Net loss and comprehensive loss       443 (56,181)      
Ending Balance       $ (55,738) $ (56,181)     $ (55,738)