Loan and Security Agreement - Schedule of debt approximates its fair value given its variable interest rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Line of Credit Facility [Line Items]
Interest expense	$ 17,514	$ 8,176	$ 4,617
Amortization of final payment fee	1,197	668	554
Amortization of debt discount related issuance costs and warrants	2,574	1,483	1,077
Warrants
Line of Credit Facility [Line Items]
Amortization of debt discount related issuance costs and warrants	$ 1,324	$ 815	$ 523