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Long-Term Debt - Summary of Interest Expense (Details) - Hercules Loan Agreement - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Debt Instrument [Line Items]
Interest expense, debt	$ 1,874	$ 884
Amortization of debt discount	$ 254	$ 225

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Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments. Excludes amortization of financing costs. Alternate captions include noncash interest expense.

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