Convertible Notes - Additional Information (Details) - USD ($)			1 Months Ended	12 Months Ended
	Aug. 15, 2023	Aug. 09, 2023	May 31, 2021	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Amortization of debt issuance costs				$ 206,000	$ 202,000
Debt instrument convertible type of equity security		The Loan Agreement has a term of four years, with a springing maturity date that is 91 days prior to the stated maturity of our existing senior unsecured convertible notes (if still outstanding at such time).
Loan agreement, term		4 years
Loan agreement spring maturity date		91 days
Debt instrument, interest rate	9.95%
Accrued paid-in-kind interest	$ 1.5
Amortization of debt discount				133,000
Common Stock
Debt Instrument [Line Items]
Initial conversion price/rate			$ 15.276
Warrant
Debt Instrument [Line Items]
Percentage of principal amount of loan funded to lender		2.00%
Hercules Capital Inc
Debt Instrument [Line Items]
Convertible debt issuable in connection with private placement	50,000,000
Debt issuance costs incurred		$ 600,000
Effective interest rate		14.50%
Interest expense				1,300,000
Interest expense, debt, excluding amortization				1,000,000
Paid-in-kind interest amount				200,000
Amortization of debt discount		$ 800,000		100,000
Number of shares warrant issued to lender		297,619
Common stock exercise price, per share		$ 1.68
Minimum cash covenant amount, requiring to hold cash		$ 8,500,000
Maximum amount of market capitalization		400,000,000
Warrants related fair value recongnized amount		400,000
Debt instrument, face amount		$ 25,000,000
Hercules Capital Inc | Common Stock
Debt Instrument [Line Items]
Number of shares warrant issued to lender		297,619
Hercules Capital Inc | Maximum | Common Stock
Debt Instrument [Line Items]
Number of shares warrant issued to lender		297,619
Hercules Capital Inc | Tranche 1A
Debt Instrument [Line Items]
Convertible debt issuable in connection with private placement	25,000,000
Carrying value of debt				24,300,000
Debt instrument, face amount		$ 25,000,000		25,200,000
Debt issuance costs				900,000
Hercules Capital Inc | Tranche 1B
Debt Instrument [Line Items]
Convertible debt issuable in connection with private placement	5,000,000
Hercules Capital Inc | Tranche 1C
Debt Instrument [Line Items]
Convertible debt issuable in connection with private placement	$ 20,000,000
Notes
Debt Instrument [Line Items]
Amortization of debt issuance costs				200,000
Debt instrument, interest rate			1.50%
Convertible debt issuable in connection with private placement			$ 150,000,000.0
Debt issuance costs incurred				$ 1,000,000.0
Effective interest rate				1.60%
Interest expense				$ 2,500,000
Interest expense, debt, excluding amortization				2,300,000
Net proceeds from convertible notes financing			$ 149,000,000.0
Debt instrument, maturity date			May 26, 2026
Debt instrument, frequency of periodic payment			semi-annually
Debt instrument, date of first required payment			Dec. 15, 2021
Initial conversion price/rate			$ 65.4620
Debt instrument conversion ratio multiple of principal			$ 1,000
Common shares registered for resale in connection with convertible notes			12,400,000
Carrying value of debt				149,500,000
Debt instrument, face amount				150,000,000.0
Debt issuance costs				$ 500,000
Notes | Redemption Between May 24, 2024 and May 24, 2025
Debt Instrument [Line Items]
Debt instrument, redemption period, stock price exceeds in percentage of conversion price			250.00%
Notes | Redemption On or After May 24, 2025
Debt Instrument [Line Items]
Debt instrument, redemption period, stock price exceeds in percentage of conversion price			200.00%