Fair Value Measurements - Hierarchy for Assets and Liabilities on a Recurring Basis (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Payment-dependent notes receivable, noncurrent	$ 5,593	$ 7,371
Payment-dependent notes payable, noncurrent	5,593	7,371
Warrant liabilities	9,616	606
Fair Value, Recurring
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Payment-dependent notes receivable, noncurrent	5,593	7,371
Term deposits	7,694
Total financial assets	145,640	156,510
Payment-dependent notes payable, noncurrent	5,593	7,371
Total financial liabilities	15,209	7,977
Term deposit, real estate lease agreement obligation	1,000
Fair Value, Recurring | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	4,889
Fair Value, Recurring | Junior Preferred Stock Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities		384
Fair Value, Recurring | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	4,727	222
Fair Value, Recurring | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	130,132	149,139
Fair Value, Recurring | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	2,221
Fair Value, Recurring | Level 1
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Payment-dependent notes receivable, noncurrent	0	0
Term deposits	0
Total financial assets	130,132	149,139
Payment-dependent notes payable, noncurrent	0	0
Total financial liabilities	0	0
Fair Value, Recurring | Level 1 | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0
Fair Value, Recurring | Level 1 | Junior Preferred Stock Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities		0
Fair Value, Recurring | Level 1 | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0	0
Fair Value, Recurring | Level 1 | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	130,132	149,139
Fair Value, Recurring | Level 1 | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	0
Fair Value, Recurring | Level 2
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Payment-dependent notes receivable, noncurrent	0	0
Term deposits	7,694
Total financial assets	9,915	0
Payment-dependent notes payable, noncurrent	0	0
Total financial liabilities	4,889	0
Fair Value, Recurring | Level 2 | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	4,889
Fair Value, Recurring | Level 2 | Junior Preferred Stock Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities		0
Fair Value, Recurring | Level 2 | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0	0
Fair Value, Recurring | Level 2 | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	0	0
Fair Value, Recurring | Level 2 | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	2,221
Fair Value, Recurring | Level 3
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Payment-dependent notes receivable, noncurrent	5,593	7,371
Term deposits	0
Total financial assets	5,593	7,371
Payment-dependent notes payable, noncurrent	5,593	7,371
Total financial liabilities	10,320	7,977
Fair Value, Recurring | Level 3 | December 2023 Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	0
Fair Value, Recurring | Level 3 | Junior Preferred Stock Warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities		384
Fair Value, Recurring | Level 3 | Private placement warrants
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Warrant liabilities	4,727	222
Fair Value, Recurring | Level 3 | Money market funds
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	0	$ 0
Fair Value, Recurring | Level 3 | Term deposits (less than 90 days)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash and cash equivalents	$ 0