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Stock Based Compensation - Summary of Outstanding Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of shares, Beginning balance 2,065  
Number of shares, Granted 396  
Number of shares, Exercised (12)  
Number of shares, Expired/Forfeited (345)  
Number of shares, Ending balance 2,104 2,065
Number of shares, Vested and exercisable 1,482  
Number of shares, Vested and expected to vest 2,104  
Weighted average exercise price, Beginning balance $ 11.78  
Weighted average exercise price, Granted 4.9  
Weighted average exercise price, Exercised 2.3  
Weighted average exercise price, Expired/Forfeited 13.82  
Weighted average exercise price, Ending balance 10.2 $ 11.78
Weighted average exercise price, Vested and exercisable 11.25  
Weighted average exercise price, Vested and expected to vest $ 10.2  
Weighted average remaining contractual term 6 years 2 months 12 days 6 years 8 months 12 days
Weighted average remaining contractual term, Vested and exercisable 5 years 1 month 6 days  
Weighted average remaining contractual term, Vested and expected to vest 6 years 2 months 12 days  
Aggregate intrinsic value, Beginning Balance $ 758  
Intrinsic value of stock options exercised 40  
Aggregate Intrinsic Value, Ending Balance 329 $ 758
Aggregate intrinsic value vested and exercisable 264  
Stock options expected to vest aggregate intrinsic value $ 329