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Debt - Additional Information (Details) - Loan and Security Agreement - Oxford Finance LLC
1 Months Ended 12 Months Ended
Nov. 30, 2021
USD ($)
Tranche
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Debt Instrument [Line Items]      
Line of credit facility, maximum borrowing capacity $ 50,000,000.0    
Number of tranches | Tranche 5    
Current borrowing capacity   $ 40,000,000.0  
Line of credit facility, Maturity period Nov. 01, 2026    
Line of credit facility frequency of payments   monthly interest-only payments  
Line of credit facility, extension period 1 year    
Final payment fee percentage 6.50%    
Interest expense   $ 1,200,000 $ 200,000
Effective interest rate percentage 11.00%    
Minimum      
Debt Instrument [Line Items]      
Prepayment fee percentage 1.00%    
Maximum      
Debt Instrument [Line Items]      
Prepayment fee percentage 2.00%    
Tranche One      
Debt Instrument [Line Items]      
Current borrowing capacity $ 10,000,000.0    
Tranche Two      
Debt Instrument [Line Items]      
Current borrowing capacity $ 20,000,000.0    
Equal To Sum Of A | Floor Rate      
Debt Instrument [Line Items]      
Line of credit facility, additional interest rate 0.08%    
Equal To Sum Of B      
Debt Instrument [Line Items]      
Line of credit facility, interest rate 7.87%