Annual report pursuant to Section 13 and 15(d)

Description of Business and Basis of Presentation - Going Concern, and Liquidity and Capital Resources (Details)

v3.24.1
Description of Business and Basis of Presentation - Going Concern, and Liquidity and Capital Resources (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Aug. 14, 2023
Aug. 10, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]                    
Accumulated deficit $ 357,037 $ 300,888     $ 281,424 $ 258,223 $ 221,898 $ 244,527 $ 168,154 $ 295,491
Senior Secured Convertible Notes                    
Debt Instrument [Line Items]                    
Securities Purchase Agreement, Issue and Sell in Offering, Aggregate Principal Amount of Notes       $ 105,000            
Securities Purchase Agreement, Aggregate Principal Amount of Notes     $ 70,000              
Debt Instrument, Repaid, Principal $ 22,400