Summary of Significant Accounting Policies - Narrative (Details) - USD ($) $ in Thousands		1 Months Ended		3 Months Ended				6 Months Ended
	Apr. 01, 2023	Aug. 14, 2023	May 12, 2023	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Working capital surplus (deficit)				$ 20				$ 20
Cash				15,700				15,700
Net loss				7,329	$ 17,178	$ 20,330	$ 11,557	24,507	$ 31,887
Net cash used in operating activities								15,805	19,544
Cash and cash equivalents				15,681				15,681		$ 10,235
Unrealized gain (loss) on equity securities				(92)		247		$ (58)	(1,256)
Stated term								1 year
Renewal option term								1 year
Term for students								2 years
Deferred revenue associated with software license agreements				1,100				$ 1,100		1,300
Contract with customer, liability				900				900
Stock based compensation				200		$ 700		570	$ 2,274
Accumulated deficit				(337,555)				(337,555)		(313,739)
Non-controlling Interest				1,866				$ 1,866		1,184
Revision of Prior Period, Reclassification, Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit										1,100
Non-controlling Interest										$ 1,100
Sales Agreement | Subsequent Event
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Sale of stock, consideration received on transaction		$ 1,400
ATM
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Sale of stock, consideration received on transaction				$ 5,600	$ 15,400
Proceeds from warrant exercises			$ 2,300
Additional funds	$ 6,400