Warrants (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended			3 Months Ended		9 Months Ended
	Jul. 11, 2022	Nov. 30, 2020	Oct. 31, 2020	May 31, 2020	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Mar. 21, 2022
Class of Warrant or Right [Line Items]
Warrant liabilities					$ 3,321		$ 3,321		$ 606
Change in fair value of warrant liabilities					$ (907)	$ (25,210)	2,715	$ (19,808)
Issuance of common stock upon exercise of Public Warrants (in shares)	1,994,790
Proceeds from exercise of Public Warrants							0	22,940
Payments for redemption of Public Warrants							$ 0	165
Additional Paid-In Capital
Class of Warrant or Right [Line Items]
Warrant liabilities	$ 700
Medium-term Notes | 2020 Loan and Security Agreement
Class of Warrant or Right [Line Items]
Term loan amount			$ 15,000
Series B-1 convertible preferred stock
Class of Warrant or Right [Line Items]
Share price (in dollars per share)			$ 3.9760	$ 3.9760
May 2020 Warrants
Class of Warrant or Right [Line Items]
Percentage of coverage to purchase warrants				5.00%
Warrant term				5 years
Series B-1 convertible preferred stock
Class of Warrant or Right [Line Items]
Change in fair value of warrant liabilities						$ 100		$ 100
October 2020 Warrants
Class of Warrant or Right [Line Items]
Warrant liabilities			$ 3,500
Warrant contractual term			10 years
Junior preferred stock warrants
Class of Warrant or Right [Line Items]
Warrant contractual term		5 years
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
Private placement warrants
Class of Warrant or Right [Line Items]
Warrant term										5 years
Class of warrant outstanding (in shares)					7,386,667		7,386,667		7,386,667	7,386,667
Exercise price of warrants (in dollars per share)										$ 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