Loan and Security Agreement - Summary of Interest and Amortization Expense for Final Payment Fee and Debt Discount (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Line of Credit Facility [Line Items]
Interest expense	$ 3,635	$ 1,124
Amortization of final payment fee	250	98
Amortization of debt discount related issuance costs and warrants	584	223
Warrants
Line of Credit Facility [Line Items]
Amortization of debt discount related issuance costs and warrants	$ 334	$ 125

Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments. Excludes amortization of financing costs. Alternate captions include noncash interest expense.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 835
-SubTopic 30
-Section 45
-Paragraph 1A
-URI https://asc.fasb.org/extlink&oid=124435984&loc=d3e28541-108399

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 470
-SubTopic 20
-Section 50
-Paragraph 1F
-Subparagraph (b)(2)
-URI https://asc.fasb.org/extlink&oid=123466505&loc=SL123495355-112611

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 28
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585

Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section S99
-Paragraph 2
-Subparagraph (SX 210.5-03.8)
-URI https://asc.fasb.org/extlink&oid=126953954&loc=SL114868664-224227

Name:	us-gaap_AmortizationOfDebtDiscountPremium
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration