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Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2023
Dec. 31, 2022
Significant Accounting Policies [Line Items]        
Allowance for doubtful accounts $ 400   $ 400 $ 400
Intangible impairment charge 22,785 $ 16,700 39,445 3,118
Other Noncurrent Assets        
Significant Accounting Policies [Line Items]        
Restricted cash deposit associated with credit facility 100   100 100
Prepaid Expenses and Other Current Assets | MidCap Credit Facility        
Significant Accounting Policies [Line Items]        
Restricted cash deposit associated with credit facility 300   300 900
Prepaid Expenses and Other Current Assets | Letter of Credit        
Significant Accounting Policies [Line Items]        
Restricted cash deposit associated with credit facility 2,000   2,000 2,000
Accrued Liabilities        
Significant Accounting Policies [Line Items]        
Refund liabilities for sales returns $ 500   $ 500 $ 600