Notes Payable - Narrative (Details)		3 Months Ended		6 Months Ended
	Jul. 09, 2021 USD ($) shares	Jun. 30, 2023 USD ($) $ / shares	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($) $ / shares	Jun. 30, 2022 USD ($)	Dec. 31, 2022 USD ($) $ / shares	Jan. 01, 2022 installment	Sep. 16, 2021 shares
Debt Instrument [Line Items]
Debt discount and issuance cost amortization				$ 300,000	$ 300,000
Unamortized balance of the discount and issuance costs		$ 400,000		$ 400,000		$ 700,000
Stock price
Debt Instrument [Line Items]
Warrant liability, measurement input (in dollars per share) | $ / shares		4.12		4.12		1.87
Warrants for Consideration of Term Loan
Debt Instrument [Line Items]
Warrants, issued or issuable (in shares) | shares	732,280
Number of securities called by each warrant or right (in shares) | shares	1
Public Warrants
Debt Instrument [Line Items]
Number of securities called by each warrant or right (in shares) | shares								1
Public Warrants | Stock price
Debt Instrument [Line Items]
Warrant liability, measurement input (in dollars per share) | $ / shares		0.82		0.82
Silicon Valley Bank (“SVB”) | Warrants for Consideration of Term Loan
Debt Instrument [Line Items]
Warrants, issued or issuable (in shares) | shares	366,140
SVB Innovation Credit Fund VIII, L.P. (“SVB Innovation”) | Warrants for Consideration of Term Loan
Debt Instrument [Line Items]
Warrants, issued or issuable (in shares) | shares	366,140
Secured Debt | SVB Term Loans
Debt Instrument [Line Items]
Debt instrument, face amount	$ 20,000,000
Number of monthly installments | installment							24
Effective rate							8.50%
Increase in annual interest rate upon event of default				2.00%
Interest expense		$ 200,000	$ 400,000	$ 500,000	800,000
Debt discount and issuance cost amortization		100,000	$ 100,000	300,000	$ 300,000
Unamortized balance of the discount and issuance costs		$ 400,000		$ 400,000