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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Income taxes    
Income tax expense (benefit) $ 0 $ 0
Deferred income tax expense (benefit) 0 0
Increase (decrease) in valuation allowance 5,772 $ (2,610)
Federal    
Income taxes    
Operating loss carryforwards that expire 11,501  
Operating loss carryforwards that do not expire 18,342  
Net operating loss carryforwards 29,843  
Research and development tax credit carryforwards 2,851  
Federal net operating loss carryforwards 589  
State    
Income taxes    
Net operating loss carryforwards 12,060  
Foreign    
Income taxes    
Net operating loss carryforwards 349  
Foreign | Research Tax Credit Carryforward    
Income taxes    
Tax credit carryforwards $ 268