Loan and Security Agreement - Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Debt Instrument [Line Items]
Amortization of debt issuance costs	$ 466	$ 0	$ 0
2022 Term Loan
Debt Instrument [Line Items]
Interest expense for 2022 Term Loan Facility	2,486
Accretion of end of term charge	215
Amortization of debt issuance costs	251
Total interest expense related to 2022 Term Loan Facility	$ 2,952

Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments. Excludes amortization of financing costs. Alternate captions include noncash interest expense.

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Amount of amortization expense attributable to debt issuance costs.

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Amount of the cost of borrowed funds accounted for as interest expense for debt.

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