Long-Term Debt - Summary of Interest Expense (Details) - Hercules Loan Agreement - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Debt Instrument [Line Items]
Interest expense, debt	$ 884	$ 909
Amortization of debt discount	$ 225	$ 198

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

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration