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Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands | Jun. 30, 2024 | Dec. 31, 2023
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Prepaid Expense and Other Assets, Current [Abstract] |  |
Research and development tax credit receivable | $ 1,442 | $ 1,438
Prepaid insurance costs | 301 | 774
Value-added tax refund receivable | 279 | 280
Contract research and development costs | 121 | 1,046
Other | 163 | 85
Total prepaid expenses and other current assets | $ 2,306 | $ 3,623

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