Long-Term Debt - Summary of Interest Expense (Details) - Hercules Loan Agreement - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Debt Instrument [Line Items]
Interest expense, debt	$ 1,397	$ 1,018	$ 3,210	$ 2,845
Amortization of debt discount	$ 237	$ 256	$ 681	$ 653