Fair Value Measurements - Assets and Liabilities Measured at Fair Value (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Assets
Cash and cash equivalents, adjusted cost	$ 20,501	$ 19,064
Recurring
Assets
Total financial assets, adjusted cost	71,459	90,642
Marketable securities, unrealized losses	(764)	(1,254)
Total financial assets, fair value	70,695	89,388
Liabilities
Total financial liabilities	5,496	8,720
Recurring \| Cash and Cash Equivalents
Assets
Total financial assets, fair value	17,103	14,253
Recurring \| Marketable Securities
Assets
Total financial assets, fair value	53,592	75,135
Recurring \| Level 1 \| Money market funds
Assets
Cash and cash equivalents, adjusted cost	17,103	14,253
Cash and cash equivalents, fair value	17,103	14,253
Recurring \| Level 1 \| Money market funds \| Cash and Cash Equivalents
Assets
Cash and cash equivalents, fair value	17,103	14,253
Recurring \| Level 2 \| Private Placement Warrants
Liabilities
Private placement warrant liability	9	7
Recurring \| Level 2 \| Asset-backed securities
Assets
Marketable securities, adjusted cost	3,505	3,507
Marketable securities, unrealized losses	(78)	(119)
Marketable securities, fair value	3,427	3,388
Recurring \| Level 2 \| Asset-backed securities \| Marketable Securities
Assets
Marketable securities, fair value	3,427	3,388
Recurring \| Level 2 \| Corporate bonds
Assets
Marketable securities, adjusted cost	10,420	22,139
Marketable securities, unrealized losses	(126)	(240)
Marketable securities, fair value	10,294	21,899
Recurring \| Level 2 \| Corporate bonds \| Marketable Securities
Assets
Marketable securities, fair value	10,294	21,899
Recurring \| Level 2 \| Commercial paper
Assets
Marketable securities, adjusted cost	10,448	20,760
Marketable securities, unrealized losses	0	0
Marketable securities, fair value	10,448	20,760
Recurring \| Level 2 \| Commercial paper \| Marketable Securities
Assets
Marketable securities, fair value	10,448	20,760
Recurring \| Level 2 \| U.S. Government securities
Assets
Marketable securities, adjusted cost	29,983	29,983
Marketable securities, unrealized losses	(560)	(895)
Marketable securities, fair value	29,423	29,088
Recurring \| Level 2 \| U.S. Government securities \| Marketable Securities
Assets
Marketable securities, fair value	29,423	29,088
Recurring \| Level 3
Liabilities
Convertible notes	5,384	8,594
Recurring \| Level 3 \| Warrants
Liabilities
Derivative warrant liability	$ 103	$ 119

Cash and Cash Equivalents And Debt Securities, Available-for-sale, Amortized Cost

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Warrant Liability, Fair Value Disclosure

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Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events.

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Amount, before tax, of unrealized loss in accumulated other comprehensive income (AOCI) on investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale).

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Amortized cost of investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale).

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Amount of currency on hand as well as demand deposits with banks or financial institutions. Includes other kinds of accounts that have the general characteristics of demand deposits. Also includes short-term, highly liquid investments that are both readily convertible to known amounts of cash and so near their maturity that they present insignificant risk of changes in value because of changes in interest rates. Excludes cash and cash equivalents within disposal group and discontinued operation.

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Fair value of financial obligations, including, but not limited to, debt instruments, derivative liabilities, federal funds purchased and sold under agreements to repurchase, securities loaned or sold under agreements to repurchase, financial instruments sold not yet purchased, guarantees, line of credit, loans and notes payable, servicing liability, and trading liabilities.

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