Borrowings - Schedule of Net Carrying Value (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Principal	$ 238,962	$ 219,744
Total borrowings	203,859	175,831
2021 Convertible Notes Payable | Convertible Notes
Debt Instrument [Line Items]
Principal	115,815	109,167
Total borrowings	94,386	82,950
2021 Convertible Notes Payable | Convertible Notes | Related Party
Debt Instrument [Line Items]
Principal	115,815	109,167
Unamortized debt discount	(19,612)	(24,733)
Unamortized debt issuance costs	(1,895)	(2,402)
Embedded derivative liability	78	918
Total borrowings	94,386	82,950
AFG Convertible Notes | Related Party
Debt Instrument [Line Items]
Total borrowings	16,623
AFG Convertible Notes | Convertible Notes | Related Party
Debt Instrument [Line Items]
Principal	17,429
Unamortized debt discount	(2,835)
Unamortized debt issuance costs	(800)
Embedded derivative liability	4,345
Total borrowings	18,139
Senior Secured Term Loan
Debt Instrument [Line Items]
Total borrowings	85,624	81,616
Senior Secured Term Loan | Secured Debt
Debt Instrument [Line Items]
Principal	100,000	100,000
Total borrowings	85,624	81,616
Senior Secured Term Loan | Secured Debt | Nonrelated Party
Debt Instrument [Line Items]
Principal	100,000	100,000
Unamortized debt discount	(1,459)	(1,866)
Unamortized debt issuance costs	(12,917)	(16,518)
Total borrowings	$ 85,624	$ 81,616