Fair Value of Financial Instruments - Schedule of Gain (Loss) Fair Value Changes in Warrants (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Fair Value, Measured on Recurring Basis, Gain (Loss) Included in Earnings [Line Items]
Gain (loss) on fair value of warrant liabilities	$ 0	$ 0	$ (8)	$ 190
2021 Private Placement Warrants
Fair Value, Measured on Recurring Basis, Gain (Loss) Included in Earnings [Line Items]
Gain (loss) on fair value of warrant liabilities	0	0	(5)	124
2021 PIPE Subscription Warrants
Fair Value, Measured on Recurring Basis, Gain (Loss) Included in Earnings [Line Items]
Gain (loss) on fair value of warrant liabilities	$ 0	$ 0	$ (3)	$ 66