Warrants - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended			12 Months Ended
	Jul. 11, 2022	Nov. 30, 2020	Oct. 31, 2020	May 31, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Mar. 21, 2022
Class of Warrant or Right [Line Items]
Warrant liabilities					$ 606	$ 7,844
Change in fair value of warrant liabilities					(19,836)	6,064	$ 292
Issuance of common stock upon exercise of Junior Preferred Stock Warrants					$ 653
Issuance of common stock upon exercise of Public Warrants (in shares)					1,994,790
Proceeds from exercise of Public Warrants					$ 22,940	0	0
Payments for redemption of Public Warrants					165	$ 0	$ 0
Additional Paid-In Capital
Class of Warrant or Right [Line Items]
Warrant liabilities					$ 700
Common Stock
Class of Warrant or Right [Line Items]
Issuance of common stock upon exercise of Junior Preferred Stock Warrants (in shares)					123,379
Issuance of common stock upon exercise of Public Warrants (in shares)					1,994,790
Additional Paid-In Capital
Class of Warrant or Right [Line Items]
Issuance of common stock upon exercise of Junior Preferred Stock Warrants					$ 653
Medium-term Notes | 2020 Loan and Security Agreement
Class of Warrant or Right [Line Items]
Term loan amount			$ 15,000
Series B-1
Class of Warrant or Right [Line Items]
Share price (in dollars per share)			$ 3.9760	$ 3.9760		$ 3.9760	$ 3.9760
Series B-1
Class of Warrant or Right [Line Items]
Change in fair value of warrant liabilities					100	$ 2,600	$ 100
October 2020 Warrants
Class of Warrant or Right [Line Items]
Warrant liabilities			$ 3,500
Warrant contractual term			10 years
Junior
Class of Warrant or Right [Line Items]
Warrant contractual term		5 years
Change in fair value of warrant liabilities					$ 4,000	$ 3,500	$ 200
Class of warrant outstanding (in shares)		3,122,931
Exercise price of warrants (in dollars per share)		$ 3.9760
Exercise price of warrants or rights extended value cap		$ 5,000
Fixed monetary amount		$ 5,000
Number of securities called by warrants (in shares)					491,785
Private placement warrants
Class of Warrant or Right [Line Items]
Warrant term								5 years
Class of warrant outstanding (in shares)					7,386,667	0
Exercise price of warrants (in dollars per share)					$ 11.50			$ 11.50
Public Warrant
Class of Warrant or Right [Line Items]
Warrant term								5 years
Class of warrant outstanding (in shares)	16,471,814							4,666,664
Exercise price of warrants (in dollars per share)	$ 11.50
Redemption price per warrant (in dollars per share)	$ 0.01
Proceeds from exercise of Public Warrants					$ 22,900
Payments for redemption of Public Warrants	$ 200
Public Warrant | Motive Fund Vehicles Investor
Class of Warrant or Right [Line Items]
Class of warrant outstanding (in shares)								13,799,940
2020 Convertible Notes Warrants
Class of Warrant or Right [Line Items]
Percentage of coverage to purchase warrants				5.00%
Warrant term				5 years