Stock-based Compensation - Schedule of Stock-Based Compensation Expense Related to Common Stock Options and Restricted Shares of Common Stock (Details) - USD ($) $ in Thousands |
3 Months Ended | 6 Months Ended | ||
|---|---|---|---|---|
Jun. 30, 2026 |
Jun. 30, 2025 |
Jun. 30, 2026 |
Jun. 30, 2025 |
|
| Stock-Based Compensation [Line Items] | ||||
| Total stock-based compensation | $ 1,759 | $ 1,777 | $ 3,005 | $ 3,164 |
| Location, Statement of Income, Balance [Axis]: us-gaap:GeneralAndAdministrativeExpense | ||||
| Stock-Based Compensation [Line Items] | ||||
| Total stock-based compensation | 837 | 1,279 | 1,265 | 2,109 |
| Location, Statement of Income, Balance [Axis]: us-gaap:ResearchAndDevelopmentExpense | ||||
| Stock-Based Compensation [Line Items] | ||||
| Total stock-based compensation | 840 | 467 | 1,596 | 964 |
| Location, Statement of Income, Balance [Axis]: us-gaap:SellingAndMarketingExpense | ||||
| Stock-Based Compensation [Line Items] | ||||
| Total stock-based compensation | $ 82 | $ 31 | $ 144 | $ 91 |