Loan and Security Agreement - Summary of Interest Expense and Amortization of Final Payment Fee, and Amortization of Debt Discount Related to Issuance Costs and Warrants (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2025	Jun. 30, 2024	Jun. 30, 2025	Jun. 30, 2024
Line of Credit Facility [Line Items]
Interest expense	$ 3,639	$ 4,869	$ 8,117	$ 9,738
Amortization of final payment fee	134	360	527	709
Amortization of debt discount related issuance costs and warrants			984	1,260
Warrants
Line of Credit Facility [Line Items]
Amortization of debt discount related issuance costs and warrants	$ 183	$ 281	$ 457	$ 551