Annual report pursuant to Section 13 and 15(d)

Net Loss per Share - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details)

v3.24.0.1
Net Loss per Share - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 5,118,688 4,611,322
Stock Option And Employee Stock Purchase Plan [Member]    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 2,212,165 2,408,998
Public and private warrants [Member]    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 0 192,936
RSUs [Member]    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 1,847,583 1,547,530
Credit Agreement Warrants [Member]    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 1,058,940 461,858