Long-term Debt - Schedule of Maturities of Long-Term Debt (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	[1]
Debt Disclosure [Abstract]
2026	$ 5,455
2027	4,545
Thereafter	0
Total payments	10,000
Less: unamortized debt issuance costs	(113)
Accretion of final payment	134
Total	$ 10,021	$ 9,929

[1] The condensed balance sheet as of December 31, 2022 has been derived from the audited financial statements as of that date.