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Debt - Additional Information (Details) - USD ($)
12 Months Ended
Sep. 17, 2021
Dec. 31, 2022
Dec. 31, 2021
Sep. 27, 2022
Debt Instrument [Line Items]        
Term loans aggregate principal amount   $ 100,000,000    
Adjustments to additional paid-in-capital, warrants issued     $ 1,290,000  
Term Loan | Floor Rate        
Debt Instrument [Line Items]        
Debt instrument interest rate 5.50%      
Loan Agreement        
Debt Instrument [Line Items]        
Debt instrument, final payment fee or end of term charge $ 7,500,000      
Percentage of qualified cash prior to Third performance milestone 60.00%      
Minimum percentage of qualified cash following third performance milestone 35.00%      
Minimum market capitalization amount $ 900,000,000.0      
Percentage of debt funded to be issued as warrants to purchase common stock 2.50%      
Warrants exercise price $ 33.43      
Warrants expire term 7 years      
Warrants expiration date Sep. 17, 2028      
Fair value of warrant liabilities $ 1,300,000      
Debt issuance costs $ 3,100,000      
Loan Agreement | Common Stock        
Debt Instrument [Line Items]        
Warrants issued to purchase shares 74,782      
Loan Agreement | Term Loan        
Debt Instrument [Line Items]        
Term loans aggregate principal amount $ 200,000,000.0      
Payment for facility charge $ 1,250,000      
Debt instrument, facility charge percentage 0.50%      
Debt instrument, maturity date Oct. 01, 2026      
Loan Agreement | Term Loan | Prime Rate        
Debt Instrument [Line Items]        
Debt instrument, basis spread on variable rate 2.25%      
Loan Agreement | Term Loan | Payment In Kind PIK Interest Rate        
Debt Instrument [Line Items]        
Debt instrument, interest rate 3.35%      
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches One        
Debt Instrument [Line Items]        
Term loans aggregate principal amount $ 100,000,000.0      
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches Two        
Debt Instrument [Line Items]        
Term loans aggregate principal amount   50,000,000.0    
Loan Agreement | Term Loans Aggregate Principal Amount Tranches Three and Four        
Debt Instrument [Line Items]        
Term loans aggregate principal amount   50,000,000.0    
Loan Agreement | Term Loan Advance        
Debt Instrument [Line Items]        
Debt instrument, final payment fee percentage 7.50%      
Debt instrument, final payment fee or end of term charge   7,500,000    
Loan Agreement | Term Loan Advance | Maximum        
Debt Instrument [Line Items]        
Debt instrument, prepayment fee percentage of outstanding principal amount 1.25%      
Hercules and SVB Term Loan        
Debt Instrument [Line Items]        
Term loans aggregate principal amount   104,500,000    
Accrued interest   900,000    
Amendment to Loan Agreement        
Debt Instrument [Line Items]        
Term loans aggregate principal amount       $ 50,000,000
Hercules Loan Agreement        
Debt Instrument [Line Items]        
Interest expense   $ 13,000,000.0 6,800,000  
SVB Term Loan | Term Loan First Advance        
Debt Instrument [Line Items]        
Final payment of debt     $ 54,300,000