Note Payable - Schedule of Carrying Amount of Note Payable (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Note payable, short term	$ (7,500)	$ (4,375)
Final payment	750
Note payable, long term (net of debt issuance costs)	5,209	$ 10,442
Note Payable
Debt Instrument [Line Items]
Outstanding principal	12,500
Note payable, short term	(7,500)
Final payment	750
Unamortized debt issuance costs	(541)
Note payable, long term (net of debt issuance costs)	$ 5,209