Notes Payable and Convertible Notes - LI Lending LLC Additional Information (Details) - LI Lending LLC Loan Agreement $ in Millions		1 Months Ended	3 Months Ended		6 Months Ended
	Apr. 30, 2020 USD ($)	Dec. 31, 2020	Jun. 30, 2023 USD ($) draw	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($) draw	Jun. 30, 2022 USD ($)	Jan. 01, 2022	May 10, 2019 USD ($)
Debt Instrument [Line Items]
Maximum borrowing capacity under credit facility								$ 50.0
Amount drawn			$ 43.0		$ 43.0
Number of draws made | draw			2		2
Percentage of exit fee of the principal balance					20.00%
Increase in interest rate		2.50%
Interest expense, debt			$ 1.9	$ 1.5	$ 3.7	$ 3.4
Repayments of debt			1.6	$ 1.0	3.2	$ 2.5
LI Lending Facility, Draw One
Debt Instrument [Line Items]
Amount drawn	$ 33.0		$ 35.0		$ 35.0
Interest rate			10.25%		10.25%
Debt prepayment	$ 2.0
Interest rate on initial loan amount							12.75%
LI Lending Facility, Draw Two
Debt Instrument [Line Items]
Amount drawn			$ 10.0		$ 10.0
Interest rate			12.25%		12.25%
Interest rate on final loan amount							14.75%