Fair Value of Financial Assets and Liabilities - Schedule of Roll-forward Aggregate Fair Values of the Yorkville Debt (Details) $ in Thousands	6 Months Ended
	Jun. 30, 2023 USD ($)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Beginning balance	$ 37,603
Ending balance	16,816
Yorkville
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Beginning balance	37,603
Conversion of debt into common shares	(3,792)
Principal repayments	(16,811)
Fair value adjustment through earnings	$ 2,357
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Nonoperating Income (Expense)
Fair value adjustment through accumulated other comprehensive income	$ (2,541)
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Liability, Gain (Loss), Statement of Other Comprehensive Income or Comprehensive Income [Extensible Enumeration]	Change in fair value of debt due to change in credit risk, net of tax
Ending balance	$ 16,816