Long-Term Debt and Other Financing Arrangements - Additional Information (Details) $ / shares in Units, $ in Thousands	1 Months Ended
	Jul. 31, 2023 USD ($) payment	Jul. 31, 2022 USD ($)	Dec. 31, 2023 USD ($)	Mar. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($)	Nov. 23, 2022 USD ($)
Debt Instrument [Line Items]
Borrowing capacity			$ 9,288
Outstanding borrowings			9,250
Total debt			5,944		$ 10,353
SVB Warrants
Debt Instrument [Line Items]
Number of common stock shares issuable upon warrant conversion (in shares) | shares				10,714
Exercise price of warrant (in dollars per share) | $ / shares				$ 5.32
Value of warrants				$ 43
Line of Credit
Debt Instrument [Line Items]
Maximum borrowing capacity			10,000
Term Note Payable to SVB
Debt Instrument [Line Items]
Total debt			5,000		8,000
Financed Insurance Premium
Debt Instrument [Line Items]
Total debt			944		$ 2,353
Number of monthly payments | payment	11
Term Loan
Debt Instrument [Line Items]
Total debt			$ 5,000			$ 8,500
Term loan, equal monthly installments						$ 500
Unused capacity, commitment fee percentage		0.20%
Final payment fee		$ 450
Financed Insurance Premium One
Debt Instrument [Line Items]
Financed insurance liability to be paid	$ 927
Financed insurance premium accrued interest rate	8.29%
Minimum | Term Loan
Debt Instrument [Line Items]
Prepayment fees		0.0100
Termination Fee		0.0200
Liquidity threshold covenants		$ 15,000
Maximum | Line of Credit | Streamline Period In Effect
Debt Instrument [Line Items]
Interest rate			0.05%
Maximum | Line of Credit | All Other Times
Debt Instrument [Line Items]
Interest rate			0.0575%
Maximum | Term Loan
Debt Instrument [Line Items]
Prepayment fees		0.0250
Termination Fee		0.0250
Prime Rate | Maximum | Line of Credit | Streamline Period In Effect
Debt Instrument [Line Items]
Interest rate			2.25%
Prime Rate | Maximum | Line of Credit | All Other Times
Debt Instrument [Line Items]
Interest rate			3.50%