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Stock-Based Compensation - Stock option activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares Available for Grant      
Outstanding as of beginning of year 3,538,268 216,003  
2022 Equity incentive plan increase 1,917,456 5,000,000  
Granted (2,190,299) (2,272,299)  
Forfeited 1,751,800 582,898  
Expired   11,666  
2022 Equity incentive plan decrease (4,917,862)    
Outstanding as of ending of year 99,363 3,538,268 216,003
Number of Shares Outstanding      
Outstanding as of beginning of year 10,081,915 8,799,415  
Granted 2,190,299 2,272,299  
Exercised (451,020) (395,235)  
Forfeited (1,751,800) (582,898)  
Expired   (11,666)  
Outstanding as of ending of year 10,069,394 10,081,915 8,799,415
Vested and exercisable 6,717,063    
Weighted Average Exercise Price      
Outstanding as of beginning of year $ 3.11 $ 3.07  
Granted 1.01 3.26  
Exercised 0.58 1.39  
Forfeited 3.42 4.31  
Expired   2.34  
Outstanding as of ending of year 2.72 $ 3.11 $ 3.07
Vested and exercisable as of ending of year $ 2.34    
Weighted Average Remaining Contractual Life (Years)      
Outstanding as of ending of year 7 years 1 month 20 days 7 years 7 months 9 days 8 years 1 month 13 days
Vested and exercisable as of ending of year 6 years 4 months 24 days    
Aggregate Intrinsic Value      
Aggregate Intrinsic Value, outstanding $ 141 $ 4,099 $ 60,924
Vested and exercisable $ 134    
Closing stock price $ 0.60    
Total intrinsic value of options exercised $ 200 $ 1,200  
Weighted average grant date fair value of options granted $ 0.55 $ 1.76  
Fair value of the shares subject to stock options vested $ 3,400 $ 3,100  
Unamortized stock-based compensation expense $ 12,500    
Vesting term (in years) 1 year 9 months 25 days