Borrowings - Net Carrying Value (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Jan. 18, 2023
Debt Instrument [Line Items]
Principal	$ 238,175	$ 238,962
Total borrowings	205,630	203,859
2021 Convertible Note Payable | Convertible Notes
Debt Instrument [Line Items]
Principal	115,815	115,815
Unamortized debt discount	(18,081)	(19,612)
Unamortized debt issuance costs	(1,747)	(1,895)
Embedded conversion feature	46	78
Total borrowings	96,033	94,386
AFG Convertible Notes Payable | Related Party
Debt Instrument [Line Items]
Total borrowings			$ 16,623
AFG Convertible Notes Payable | Convertible Notes | Related Party
Debt Instrument [Line Items]
Principal	17,429	17,429
Unamortized debt discount	(2,617)	(2,835)
Unamortized debt issuance costs	(738)	(800)
Embedded conversion feature	3,843	4,345
Total borrowings	17,917	18,139
Senior Secured Term Loan
Debt Instrument [Line Items]
Total borrowings	86,756	85,624
Senior Secured Term Loan | Secured Debt
Debt Instrument [Line Items]
Principal	100,000	100,000
Total borrowings	86,756	85,624
Senior Secured Term Loan | Secured Debt | Nonrelated Party
Debt Instrument [Line Items]
Principal	100,000	100,000
Unamortized debt discount	(1,344)	(1,459)
Unamortized debt issuance costs	(11,900)	(12,917)
Total borrowings	$ 86,756	$ 85,624