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Notes Payable - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Jan. 31, 2023
May 31, 2021
May 31, 2019
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]          
Line of credit facility agreement date     May 31, 2019    
Credit facility maximum borrowings   $ 100,000,000.0 $ 75,000,000.0    
Credit facility, remaining borrowings   $ 67,000,000.0      
Line of credit facility interest payments term   18 months      
Line of credit facility, frequency of payments       monthly payments  
Line of credit facility, percentage of final payment   3.50%      
Final payment amount   $ 1,200,000      
Line of credit facility covenants description       The Company is also subject to an ongoing minimum cash financial covenant in which the Company must maintain unrestricted cash in an amount not less than $20.0 million following the utilization of the second term loan and not less than $35.0 million following the utilization of the third term loan  
Term Loan          
Debt Instrument [Line Items]          
Debt instrument, interest expense       $ 3,000,000.0 $ 2,500,000
Debt instrument, effective annual interest rate       9.20% 8.40%
LIBOR          
Debt Instrument [Line Items]          
Debt instrument, annual interest rate   5.95%      
Minimum          
Debt Instrument [Line Items]          
Line of credit facility amortization term   18 months      
Minimum | Second Tranche (Term Loan Available from July 1, 2022 to July 1, 2023)          
Debt Instrument [Line Items]          
Line of credit facility minimum cash financial covenant   $ 20,000,000.0      
Minimum | TThird Tranche (Term Loan Available from July 1, 2023 to July 1, 2024)          
Debt Instrument [Line Items]          
Line of credit facility minimum cash financial covenant   $ 35,000,000.0      
Maximum          
Debt Instrument [Line Items]          
Line of credit facility amortization term   30 months      
Initial Term Loan          
Debt Instrument [Line Items]          
Credit facility maximum borrowings   $ 33,000,000.0 $ 25,000,000.0    
Proceeds from lines of credit   33,000,000.0      
Second Tranche (Term Loan Available from July 1, 2022 to July 1, 2023)          
Debt Instrument [Line Items]          
Credit facility maximum borrowings   $ 33,000,000.0      
Line of Credit Facility, Covenant Terms       upon certain regulatory approvals and evidence of the Company having $100 million in cash and cash equivalent investments  
Line of credit facility interest payments term   30 months      
Third Tranche (Term Loan Available from July 1, 2023 to July 1, 2024)          
Debt Instrument [Line Items]          
Credit facility maximum borrowings   $ 34,000,000.0      
Subsequent Event [Member] | Amended Credit Facility | SOFR          
Debt Instrument [Line Items]          
Debt instrument, annual interest rate 5.95%        
Line of credit facility, percentage of final payment 3.50%        
Debt instrument, effective annual interest rate 0.10%