Warrants - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended				12 Months Ended
	Jul. 11, 2022	Dec. 31, 2023	Nov. 30, 2020	Oct. 31, 2020	May 31, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Mar. 21, 2022
Class of Warrant or Right [Line Items]
Warrant liabilities		$ 9,616				$ 9,616	$ 606
Change in fair value of warrant liabilities						$ 6,465	(19,836)	$ 6,064
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						$ 0	22,940	0
Payments for redemption of Public Warrants						0	$ 165	$ 0
Additional Paid-In Capital
Class of Warrant or Right [Line Items]
Warrant liabilities		$ 700				$ 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
Series B-1 Convertible Preferred Stock
Class of Warrant or Right [Line Items]
Share price (in dollars per share)				$ 3.9760	$ 3.9760			$ 3.9760
2020 Convertible Notes 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	$ 2,600
Series B-1 Convertible Preferred Stock | Warrant
Class of Warrant or Right [Line Items]
Change in fair value							$ (106)
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)		2,631,146	3,122,931			2,631,146
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
Junior Preferred Stock Warrants | Warrant
Class of Warrant or Right [Line Items]
Change in fair value							$ 3,963
December 2023 Warrants
Class of Warrant or Right [Line Items]
Exercise price of warrants (in dollars per share)		$ 3.9760				$ 3.9760
Exercise price of warrants or rights extended value cap		$ 5,000
December 2023 Warrants | Warrant
Class of Warrant or Right [Line Items]
Change in fair value						$ (721)
December 2023 Warrants | Warrant | General and Administrative Expense
Class of Warrant or Right [Line Items]
Change in fair value						(2,500)
December 2023 Warrants And Junior Preferred Stock Warrants
Class of Warrant or Right [Line Items]
Change in fair value of warrant liabilities						(2,000)	4,000	(3,500)
December 2023 Warrants And Junior Preferred Stock Warrants | Warrant | General and Administrative Expense
Class of Warrant or Right [Line Items]
Change in fair value						$ (2,545)	$ 0	$ 0
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
Private placement warrants | Warrant
Class of Warrant or Right [Line Items]
Change in fair value						$ (4,505)	$ 20,239
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