Stock Based Compensation - Summary of Outstanding Restricted Stock Unit Activity (Details) - $ / shares shares in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units, Beginning balance	444
Restricted stock units, Grants	726
Restricted stock units, Vested and released	(312)
Forfeited	(152)
Restricted stock units, Ending balance	706	444
Weighted average grant date fair value, Beginning balance	$ 11.78
Weighted average grant date fair value, Grants	4.94	$ 8.05
Weighted average grant date fair value, Vested	8.13
Weighted Average Grant Date Fair Value Forfeited	8.90
Weighted average grant date fair value, Ending balance	$ 6.97	$ 11.78
Performance Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units, Beginning balance	137
Restricted stock units, Grants	18
Restricted stock units, Vested and released	0
Forfeited	(45)
Restricted stock units, Ending balance	110	137
Weighted average grant date fair value, Beginning balance	$ 2.09
Weighted average grant date fair value, Grants	0.6
Weighted average grant date fair value, Vested	0
Weighted Average Grant Date Fair Value Forfeited	2.2
Weighted average grant date fair value, Ending balance	$ 1.79	$ 2.09

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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