Fair Value of Financial Assets and Liabilities - Narrative (Details) - USD ($) $ in Thousands	1 Months Ended
	Jun. 30, 2019	Dec. 31, 2022	Dec. 31, 2021
Hercules Amended and Restated Loan Agreement
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Interest rate	8.75%
Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability		$ 23,141
Embedded derivative liability			$ 821
Fair Value, Recurring | Embedded derivative liability
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability		10
Embedded derivative liability			821
Level 3 | Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability		23,141
Embedded derivative liability			821
Level 3 | Fair Value, Recurring | Embedded derivative liability
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability		$ 10
Embedded derivative liability			$ 821