Long-Term Debt - Additional Information (Details) - USD ($) $ in Thousands		1 Months Ended		9 Months Ended	12 Months Ended
	Nov. 30, 2019	Sep. 30, 2021	Jun. 30, 2021	Sep. 30, 2021	Dec. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Mar. 31, 2020
Debt Instrument [Line Items]
Line Of Credit Facility Maximum Borrowing Capacity		$ 15,000		$ 15,000
Total debt, net of issuance costs					$ 10,213	$ 10,065
Common Stock, Shares, Issued					73,823,161	71,854,688
Loan, maturity date					Sep. 01, 2026
Percentage of variable annual interest rate					0.75%
Interest rate during the period				4.00%
Interest rate due on maturity date					4.00%
Debt instrument face amount					$ 10,500	$ 10,500
The SVB Warrant [Member]
Debt Instrument [Line Items]
Less: issuance costs						$ 400
Silicon Valley Bank Warrant
Debt Instrument [Line Items]
Line Of Credit Facility Maximum Borrowing Capacity		35,500		$ 35,500
Temporary equity, shares converted			117,088
Less: issuance costs					$ 300
Loan and Security agreement
Debt Instrument [Line Items]
Line Of Credit Facility Maximum Borrowing Capacity	$ 15,000	$ 10,000		10,000
Line of Credit Facility, Current Borrowing Capacity	$ 2,500
Loan and Security agreement | Silicon Valley Bank Warrant
Debt Instrument [Line Items]
Total debt, net of issuance costs								$ 7,500
2019 SVB Loan
Debt Instrument [Line Items]
Loan, maturity date	Sep. 01, 2023
Percentage of variable annual interest rate					0.65%
Interest rate during the period		5.90%
Interest rate due on maturity date					5.50%
First Tranche
Debt Instrument [Line Items]
Line of Credit Facility, Current Borrowing Capacity		$ 10,500		$ 10,500
2021 Silicon Valley Bank Loan
Debt Instrument [Line Items]
Line Of Credit Facility Maximum Borrowing Capacity							$ 25,000
Line of Credit Facility, Current Borrowing Capacity					$ 1,300
Loan Draw Down ,Period		Mar. 31, 2024
Debt instrument, interest per annum					9.25%