Debt - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions			3 Months Ended		6 Months Ended
	Dec. 28, 2021	Aug. 06, 2021	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Debt Instrument [Line Items]
Line of credit facility, interest rate		4.50%
Interest expense			$ 1.1	$ 0.7	$ 1.9	$ 1.4
Term Loan [Member]
Debt Instrument [Line Items]
Percentage of original principal due as a final payment		5.75%
Line of credit facility, interest rate		7.75%
Silicon Valley Bank Loan [Member]
Debt Instrument [Line Items]
Warrants issued	649,615
Warrants expiration date	Aug. 06, 2031
Description of payment terms		the Company also owed SVB 5.75% of the original principal amounts borrowed as a final payment, or the Final Payment. Effective March 30, 2023, the Company entered into a Third Amendment to the Loan and Security Agreement, or the Third Amendment. Under the terms of the Third Amendment, the Company was no longer required to maintain all of its operating accounts, depository accounts and excess cash with SVB or one of its affiliates, and was instead only required to maintain a single operating or depository account at Silicon Valley Bank. The Third Amendment also modified the cash collateralization requirement, such that the Company was required to cash collateralize the entire sum of the outstanding principal amount of the SVB Facility, plus an amount equal to the Final Payment, which amount was to be reduced commensurate with each regularly scheduled monthly payment of principal and interest on the SVB Facility.On May 1, 2023, the Company paid SVB an amount equal to the entire outstanding principal amount under the SVB Facility, all accrued and unpaid interest and the Final Payment. In accordance with the First Amendment, the payment was subject to a prepayment premium of 2.00%
Debt instrument description of variable rate basis					The SVB Facility bore interest at a floating rate per annum on outstanding loans, payable monthly, at the greater of (a) 7.75% and (b) the current published U.S. prime rate, plus a margin of 4.5%
Extinguishment of debt, amount			0.5
Amount of prepayments premium			$ 0.1
Number of warrants issued		432,844
Warrant exercise per share	$ 1.16	$ 2.22
Additional number warrants issued		432,842
Debt instrument, initial maturity date					Aug. 01, 2023
Silicon Valley Bank Loan [Member] | Debt Instrument Redemption Period One
Debt Instrument [Line Items]
Percentage of prepayments premium					2.00%
Silicon Valley Bank Loan [Member] | Warrants [Member]
Debt Instrument [Line Items]
Issuance costs	$ 1.2