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Income Taxes - Schedule of Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Components of Deferred Tax Assets and Liabilities [Abstract] |  |  |
U.S. federal and state net operating loss carryforwards | $ 36,092 | $ 25,051 |
Capitalized start-up and research and development expenses | 10,868 | 5,377 |
Research and development tax credits | 2,275 | 1,780 |
Interest expense | 3,918 |  |
Lease liability | 659 | 838 |
Depreciation | 203 | 236 |
Bad debt reserve | 3,461 |  |
Other temporary differences | 2,145 | 994 |
Total deferred tax assets | 59,621 | 34,276 |
Valuation allowance | (57,985) | (33,484) | $ (22,579)
Net deferred tax assets | 1,636 | 792 |
Right of use asset | (623) | (792) |
Other deferred tax liability | (1,013) |  |
Total deferred tax liabilities | (1,636) | (792) |
Net deferred tax asset | $ 0 | $ 0 |

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