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Debt - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Jun. 30, 2022
May 20, 2019
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]          
Class of warrants, exercise price (in dollars per share)     $ 2.56 $ 9.41 $ 9.10
Loss on extinguishment of debt     $ 7,947 $ 0  
Exercise of common stock warrants          
Debt Instrument [Line Items]          
Class of warrants number of securities called by the warrants or rights (in shares) 3,779,018        
Class of warrants, exercise price (in dollars per share) $ 1.1114        
Warrant, term 8 years        
2019 Credit Agreement          
Debt Instrument [Line Items]          
Warrants liability fair value     $ 900    
Class of warrants number of securities called by the warrants or rights (in shares)     419,992    
2019 Credit Agreement | Series C Convertible Preferred Stock          
Debt Instrument [Line Items]          
Class of warrants, exercise price (in dollars per share)     $ 16.67    
2019 Credit Agreement | Series D Convertible Preferred Stock          
Debt Instrument [Line Items]          
Class of warrants, exercise price (in dollars per share)     $ 16.67    
2019 Credit Agreement | Senior Term Loan          
Debt Instrument [Line Items]          
Conversion amount   $ 70,000      
Proceeds from senior term loan   $ 40,000      
Debt instrument, interest rate   7.75%      
Debt instrument, fee amount     $ 4,600    
2022 Amended Credit Agreement | Senior Term Loan          
Debt Instrument [Line Items]          
Conversion amount $ 35,000        
Debt instrument, fee amount $ 1,800   $ 1,800    
Debt instrument, term 5 years        
2022 Amended Credit Agreement | Senior Term Loan | Debt Instrument, Amortization Payment, Period One          
Debt Instrument [Line Items]          
Periodic payment, percentage of principal 15.00%        
2022 Amended Credit Agreement | Senior Term Loan | Debt Instrument, Amortization Payment, Period Two          
Debt Instrument [Line Items]          
Periodic payment, percentage of principal 15.00%        
2022 Amended Credit Agreement | Senior Term Loan | Debt Instrument, Amortization Payment, Period Three          
Debt Instrument [Line Items]          
Periodic payment, percentage of principal 70.00%        
2022 Amended Credit Agreement | Senior Term Loan | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate          
Debt Instrument [Line Items]          
Debt instrument, basis spread on variable rate 9.00%        
Debt instrument, basis spread on variable rate, floor 2.50%