Loan and Security Agreement - Interest Expense (Details) $ in Thousands	3 Months Ended
Mar. 31, 2023 USD ($)
Debt Disclosure [Abstract]
Interest expense for 2022 Term Loan Facility	$ 2,563
Accretion of end of term charge	220
Amortization of debt issuance costs	199
Total interest expense related to 2022 Term Loan Facility	$ 2,982

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

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 470
-SubTopic 20
-Section 50
-Paragraph 6
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-URI https://asc.fasb.org/extlink&oid=123466204&loc=SL6036836-161870

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
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-Section S99
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Reference 3: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 4: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 5: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 470
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-Paragraph 1F
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-URI https://asc.fasb.org/extlink&oid=123466505&loc=SL123495355-112611

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration