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Loan with Silicon Valley Bank - Additional Information (Details)
3 Months Ended 6 Months Ended
Aug. 12, 2021
USD ($)
Program
Jun. 30, 2023
USD ($)
Jun. 30, 2023
USD ($)
Dec. 31, 2021
USD ($)
Debt Instrument [Line Items]        
Debt instrument, maturity date Aug. 01, 2026      
Percentage of interest rate 7.00%      
Percentage of prepayment of facility 7.50%      
Warrants associated with loan facility $ 0      
Exit fee recorded as debt discount   $ 3,000,000.0 $ 3,000,000.0  
Percentage of annual default interest rate 5.00%      
Interest expense related to term loan   1,400,000 2,700,000  
Prime Rate        
Debt Instrument [Line Items]        
Debt instrument, basis spread on variable rate 3.75%      
Term Loan        
Debt Instrument [Line Items]        
Current borrowing capacity $ 30,000,000.0     $ 10,000,000.0
Through December 31, 2021 | Term Loan        
Debt Instrument [Line Items]        
Maximum borrowing capacity $ 40,000,000.0      
Debt instrument, maturity date Dec. 31, 2021      
January 1, 2022 until September 30, 2022 | Term Loan        
Debt Instrument [Line Items]        
Maximum borrowing capacity $ 20,000,000.0 20,000,000.0 $ 20,000,000.0  
Debt instrument, maturity start date Jan. 01, 2022      
Debt instrument, maturity end date Sep. 30, 2022   Sep. 30, 2022  
Number of distinct and active clinical stage | Program 3      
Proceeds from term loan     $ 0  
January 1, 2022 until March 31, 2023 | Term Loan        
Debt Instrument [Line Items]        
Maximum borrowing capacity   $ 20,000,000.0 $ 20,000,000.0  
Debt instrument, maturity end date     Mar. 31, 2023  
Proceeds from term loan     $ 0  
October 1, 2022 until March 31, 2023 | Term Loan        
Debt Instrument [Line Items]        
Maximum borrowing capacity $ 20,000,000.0      
Debt instrument, maturity start date Oct. 01, 2022      
Debt instrument, maturity end date Mar. 31, 2023      
Number of distinct and active clinical stage | Program 3      
April 1, 2023 until December 31, 2023 | Term Loan        
Debt Instrument [Line Items]        
Maximum borrowing capacity $ 20,000,000.0      
Debt instrument, maturity start date Apr. 01, 2023      
Debt instrument, maturity end date Dec. 31, 2023      
Through August 13, 2023        
Debt Instrument [Line Items]        
Percentage of prepayment premium 1.00%