Term Loan - Additional Information (Details) $ / shares in Units, $ in Thousands	1 Months Ended			9 Months Ended
	Jan. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($)	Apr. 30, 2020 USD ($)	Sep. 30, 2023 USD ($) shares
Debt Instrument [Line Items]
Debt discount				$ 648
Loss on extinguishment				(1,208)
Tranche one
Debt Instrument [Line Items]
Warrants to purchase common stock | shares	51,204
Loan Agreement
Debt Instrument [Line Items]
Line of credit facility, description			In April 2020, the Company entered into a Loan and Security Agreement, (the “Loan Agreement”) with the lenders referred to therein, and Silicon Valley Bank (“SVB”), as collateral agent. The Loan Agreement as amended in May 2021 (the “2021 Loan Agreement”) provided for (i) a secured term A loan facility (the “Term A Loan Facility”) of up to $20.0 million and (ii) a secured term B loan facility (the “Term B Loan Facility”) of up to $5.0 million. The Term A Loan Facility of $20.0 million was fully drawn as of December 2022 and the Term B Loan Facility expired unused.
Loss on extinguishment				$ (1,200)
Loan Agreement | Term A Loan Facility
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity			$ 20,000
Line of credit facility fully drawn amount		$ 20,000
Loan Agreement | Term B Loan Facility
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity			$ 5,000
2021 Loan Agreement
Debt Instrument [Line Items]
Repaid line of credit	$ 21,400
2023 Loan Agreement
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	$ 100,000
Line of credit facility, description	In January 2023, the Company executed a loan and security agreement with new lenders (the “2023 Loan Agreement”) and from the proceeds repaid $21.4 million in outstanding principal, final payment fee, prepayment fee and interest due under the 2021 Loan Agreement. Repayment of the 2021 Loan Agreement was accounted for as an extinguishment as the 2023 Loan Agreement was with new lenders. The Company recorded a loss on extinguishment of $1.2 million, which was recognized as a component of interest expense on the Company’s condensed consolidated statements of operations and comprehensive loss.
Warrant exercise price | $ / shares	$ 9.7649
Warrants expiration month and year	2033-01
Minimum unrestriced cash and cash equivalents to three month average cash and cash equivalents multiplier				5
Debt instrument, maturity date	Jan. 01, 2027
Debt instrument, maturity date, description				The term loans mature on January 1, 2027 and provide for interest-only payments until February 1, 2025.
Debt instrument, interest rate	9.75%			10.75%
Debt instrument, basis spread on variable rate	2.25%
Percentage of fee on loan				5.95%
Conversion price per share | $ / shares	$ 12.6943
Contingent warrants | shares	153,611
Warrant Forfeited | shares				30,722
2023 Loan Agreement | Minimum
Debt Instrument [Line Items]
Debt instrument, interest rate	8.45%
Prepayment fee percentage.				1.00%
2023 Loan Agreement | Maximum
Debt Instrument [Line Items]
Warrants to purchase common stock | shares	204,815
Prepayment fee percentage.				3.00%
Conversion of principal amount	$ 7,500
2023 Loan Agreement | Tranche one
Debt Instrument [Line Items]
Debt discount	800
Line of credit facility fully drawn amount	25,000
2023 Loan Agreement | Tranche one | Measurement Input, Expected Dividend Payment
Debt Instrument [Line Items]
Fair value of warrant assumptions, dividends	$ 0
2023 Loan Agreement | Tranche one | Valuation Technique, Option Pricing Model | Measurement Input, Risk Free Interest Rate
Debt Instrument [Line Items]
Fair measurement input	0.039
2023 Loan Agreement | Tranche one | Valuation Technique, Option Pricing Model | Measurement Input, Price Volatility
Debt Instrument [Line Items]
Fair measurement input	0.938
2023 Loan Agreement | Tranche one | Valuation Technique, Option Pricing Model | Measurement Input, Expected Term
Debt Instrument [Line Items]
Fair measurement input	10 years
2023 Loan Agreement | Tranche Two
Debt Instrument [Line Items]
Line of credit facility, expired unused				$ 15,000
Credit facility maturity date				Sep. 30, 2023
2023 Loan Agreement | Tranche two and three
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	$ 25,000
Warrant contingently exercisable upon funding of each subsequent term loan | shares				122,839
2023 Loan Agreement | Tranche Four
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	$ 50,000
Commitment fee percentage				0.60%