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Debt - MidCap Credit Agreements - Additional Information (Details) - USD ($)			3 Months Ended		6 Months Ended
	Nov. 09, 2022	May 06, 2021	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Debt Instrument [Line Items]
Debt, gross amount			$ 45,265,000		$ 45,265,000		$ 45,659,000
MidCap Credit Agreements
Debt Instrument [Line Items]
Debt, gross amount		$ 70,000,000
Debt issuance cost before amortization			2,127,000		2,127,000
MidCap Credit Agreements \| Interest Expense
Debt Instrument [Line Items]
Amortization expense			$ 185,000	$ 175,000	$ 369,000	$ 248,000
MidCap Credit Agreements \| Term Loan
Debt Instrument [Line Items]
Debt, gross amount		$ 40,000,000
Expiration date		May 01, 2026
MidCap Credit Agreements \| Term Loan \| SOFR
Debt Instrument [Line Items]
Variable interest rate	6.00%
MidCap Credit Agreements \| Term Loan \| LIBOR
Debt Instrument [Line Items]
Variable interest rate		6.00%
MidCap Credit Agreements \| Term Loan, First Commitment
Debt Instrument [Line Items]
Debt, gross amount		$ 10,000,000
MidCap Credit Agreements \| Term Loan, Second Commitment
Debt Instrument [Line Items]
Debt, gross amount		30,000,000
MidCap Credit Agreements \| Revolving Loan
Debt Instrument [Line Items]
Total borrowing capacity	$ 50,000,000	$ 30,000,000
Expiration date		May 01, 2026
MidCap Credit Agreements \| Revolving Loan \| SOFR
Debt Instrument [Line Items]
Variable interest rate	3.75%
MidCap Credit Agreements \| Revolving Loan \| LIBOR
Debt Instrument [Line Items]
Variable interest rate	3.00%	3.00%