Commitments and Contingencies (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Nov. 03, 2023	Jun. 08, 2021	Feb. 03, 2021	Oct. 01, 2020	Apr. 30, 2018	Mar. 31, 2018
Other Commitments [Line Items]
Estimate of possible loss				$ 7,500
Royalty expense	$ 3,808	$ 1,305	$ 810
Accrued royalties	$ 789	$ 544
Common warrant | PacWest Term Loan and Revolving Line of Credit | Line of credit
Other Commitments [Line Items]
Warrants issued (in shares)								3,388
Common warrant | Trinity Term Loan | Class G
Other Commitments [Line Items]
Warrants issued (in shares)									6,250
Exercise price (in dollars per share)									$ 35.42
Common warrant | Trinity Term Loan | Loans | Class G
Other Commitments [Line Items]
Warrants issued (in shares)							1,844
Exercise price (in dollars per share)							$ 35.42	$ 35.42
Private Warrants
Other Commitments [Line Items]
Warrants issued (in shares)	10,150,000
Exercise price (in dollars per share)	$ 11.50
Private Warrants | Class G | PacWest
Other Commitments [Line Items]
Warrants issued (in shares)					3,388
Warrants demanded (in shares)						52,632