Borrowings - Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended			6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023
2021 Convertible Note Payable | Convertible Notes
Debt Instrument [Line Items]
Contractual interest expense	$ 1,737	$ 1,637		$ 3,474	$ 3,274
Amortization of debt discount	1,588	1,250		3,119	2,457
Amortization of debt issuance costs	154	122		302	239
Total	3,479	3,009		6,895	5,970
AFG Convertible Notes | Related Party
Debt Instrument [Line Items]
Total			$ 2,873
AFG Convertible Notes | Convertible Notes | Related Party
Debt Instrument [Line Items]
Contractual interest expense	1,154	860		2,309	1,639
Amortization of debt discount	218	210		436	358
Amortization of debt issuance costs	61	59		123	101
Total	1,433	1,129		2,868	2,098
Senior Secured Term Loan | Secured Debt | Nonrelated Party
Debt Instrument [Line Items]
Contractual interest expense	3,174	3,453		6,858	6,826
Amortization of debt discount	109	99		224	192
Amortization of debt issuance costs	963	873		1,980	1,695
Total	$ 4,246	$ 4,425		$ 9,062	$ 8,713