Notes Payable - Summary of Notes Payable (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Notes and Loans, Noncurrent [Abstract]
Notes payable, net of issuance costs	$ 31,970	$ 32,669
Less: current portion	(9,429)	(786)
Notes payable, net of current portion	22,541	31,883
Accretion related to final payment	450	203
Notes payable, long term	$ 22,991	$ 32,086