Loan and Security Agreement - Maturities (Details) - Loan Agreement - USD ($) $ in Thousands	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022
Minimum aggregate future loan payments
2023 (remaining three months)	$ 1,667
2024	3,333
Total future principal payments	5,000
Less: unamortized discount	(43)
Total notes payable	4,957
Interest expense	$ 600	$ 500

Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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Amount, after accumulated amortization, of debt issuance costs. Includes, but is not limited to, legal, accounting, underwriting, printing, and registration costs.

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Amount of the cost of borrowed funds accounted for as interest expense for debt.

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Amount, after deduction of unamortized premium (discount) and debt issuance cost, of long-term debt. Excludes lease obligation.

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Amount of long-term debt payable, sinking fund requirement, and other securities issued that are redeemable by holder at fixed or determinable price and date, maturing in next fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of long-term debt payable, sinking fund requirement, and other securities issued that are redeemable by holder at fixed or determinable price and date, maturing in remainder of current fiscal year.

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