Long-Term Debt - Summary of Interest Expense (Details) - Hercules Loan Agreement - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Debt Instrument [Line Items]
Interest expense, debt	$ 1,148	$ 918	$ 2,257	$ 1,827
Amortization of debt discount	$ 219	$ 198	$ 444	$ 397