Debt - Term Loan And Unamortized Debt Discount Balances (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Loan payable, net of current portion	$ 13,787	$ 17,786
2020 Term Loans
Debt Instrument [Line Items]
Outstanding principal	22,414
Venture debt termination fee	2,250
Less: Debt discount	(642)
Less: Current portion of loan payable	(10,235)
Loan payable, net of current portion	$ 13,787