Loan and Security Agreement - Schedule of Future Principal Debt Payment (Details) $ in Thousands	Jun. 30, 2023 USD ($)
Debt Disclosure [Abstract]
2024	$ 3,427
2025	14,588
2026	11,985
Total principal payments	30,000
Plus: Final payment fee	1,800
Less: unamortized debt discount and final fee	(2,078)
Long-Term Debt, Total	$ 29,722