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Debt and Notes Payable - Narrative (Details) - Term Loan - MidCap Financial Services, LLC - USD ($)
$ in Millions
3 Months Ended
Nov. 22, 2021
Oct. 31, 2021
Mar. 31, 2023
Debt and Notes Payable      
Minimum liquidity covenant $ 4.0    
Gain on forgiveness of PPP loan     $ 1.1
MidCap Financial Services, LLC Term Loan      
Debt and Notes Payable      
Credit facility term 5 years    
Debt instrument principal $ 21.0    
Origination fee   0.50%  
Final payment fee   4.00%  
MidCap Financial Services, LLC Term Loan | London Interbank Offered Rate (LIBOR)      
Debt and Notes Payable      
Margin rate (as a percent)   5.70%  
MidCap Financial Services, LLC Term Loan | London Interbank Offered Rate (LIBOR) | Minimum      
Debt and Notes Payable      
Variable rate floor   1.00%  
MidCap Financial Services, LLC Term Loan | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate      
Debt and Notes Payable      
Margin rate (as a percent)   5.70%  
MidCap Financial Services, LLC Term Loan | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Minimum      
Debt and Notes Payable      
Variable rate floor   1.00%