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Stock-based Compensation - Schedule of Stock Option Award Activities (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]    
Options outstanding, beginning balance 6,695,933  
Options granted 1,690,675  
Options exercised 0  
Options forfeited (50,335)  
Options outstanding, ending balance 8,336,273 6,695,933
Options Exerciseable 2,797,539  
Options vested or expected to vest 5,538,734  
Options outstanding, weighted average exercise price, beginning balance $ 3.52  
Options granted, weighted average exercise price 1.24  
Options exercised, weighted average exercise price 0  
Options forfeited, weighted average exercise price 4.43  
Options outstanding, weighted average exercise price, ending balance 3.05 $ 3.52
Options exercisable, weighted average exercise price 5.04  
Options vested or expected to vest, weighted average exercise price $ 2.05  
Options outstanding, weighted average remaining contractual term 8 years 5 months 26 days 8 years 3 months 25 days
Options exercisable, weighted average remaining contractual term 7 years 5 months 12 days  
Options vested or expected to vest, weighted average remaining contractual term 9 years 7 days  
Options outstanding, aggregate intrinsic value $ 40 $ 361
Options exercisable, aggregate intrinsic value 17  
Options vested or expected to vest, aggregate intrinsic value $ 23