Debt (Details) - USD ($) $ in Millions	Oct. 25, 2023	Feb. 10, 2023	Oct. 17, 2022	Apr. 29, 2022	Mar. 31, 2024	Dec. 31, 2023
Debt Instrument [Line Items]
Restricted cash					$ 1.7	$ 1.6
Minimum Liquidity Pursuant To Credit Agreement
Debt Instrument [Line Items]
Restricted cash	$ 52.0
Loan Agreement With Hercules Capital, Inc. | Term Loan
Debt Instrument [Line Items]
Revolving line of credit, maximum borrowing capacity				$ 50.0
Long-term debt				20.0
Proceeds from lines of credit			$ 20.0
Covenant terms, cash in deposit accounts, minimum amount				60.0
Payments for cash facility and legal fees				0.6
Debt issuance costs, net				$ 0.3
Effective interest rate				17.90%
Loss on extinguishment of debt	3.6
Loan Agreement With Hercules Capital, Inc. | Term Loan | Interest Rate, Not Subject to Financial Covenant | Prime Rate
Debt Instrument [Line Items]
Basis spread on variable rate		6.15%
Loan Agreement With Hercules Capital, Inc. | Term Loan | Interest Rate, Subject to Financial Covenant | Minimum
Debt Instrument [Line Items]
Interest rate		9.40%
Credit Agreement with UBS Bank USA and UBS Financial Services | Revolving Credit Facility
Debt Instrument [Line Items]
Revolving line of credit, maximum borrowing capacity	45.0
Proceeds from lines of credit	$ 44.0
Variable interest rate	1.20%
Commitment fee percentage	0.50%
Credit Agreement with UBS Bank USA and UBS Financial Services | Minimum | Revolving Credit Facility
Debt Instrument [Line Items]
Liquidity premium, percentage	0.15%
Credit Agreement with UBS Bank USA and UBS Financial Services | Maximum | Revolving Credit Facility
Debt Instrument [Line Items]
Liquidity premium, percentage	0.50%
Credit Agreement with UBS Bank USA and UBS Financial Services | Secured Overnight Financing Rate | Revolving Credit Facility
Debt Instrument [Line Items]
Basis spread on variable rate	0.11%