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Basis of Presentation and Summary of Significant Accounting Policies - Narrative (Details) - USD ($) |  |  | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Jul. 20, 2023 | Apr. 13, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022 | Jun. 16, 2022
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Accumulated deficit |  |  | $ 467,047,000 |  | $ 467,047,000 |  | $ 400,346,000 |
Net loss |  |  | 16,106,000 | $ 11,650,000 | 66,701,000 | $ 35,923,000 |  |
Net cash outflows from operations |  |  |  |  | 45,910,000 | 34,339,000 |  |
Cash |  |  | 53,317,000 |  | 53,317,000 |  | $ 7,065,000 |
Working capital |  |  | $ 14,700,000 |  | $ 14,700,000 |  |  |
ELOC, right to sell common stock (in shares) |  |  |  |  |  |  |  | $ 150,000,000
Common stock, par value (in usd per share) |  |  | $ 0.0001 |  | $ 0.0001 |  | $ 0.0001 | $ 0.0001
ELOC, ownership restriction percentage |  |  |  |  |  |  |  | 9.90%
ELOC, floor stock price (in usd per share) |  |  |  |  |  |  |  | $ 1.00
Proceeds from stock issuance |  |  |  |  | $ 61,300,000 |  |  |
Issuance of stock (in shares) |  |  |  |  | 39,487,104 |  |  |
Premium payment, percentage of amount prepaid from common stock issuance proceeds | 10.00% |  |  |  |  |  |  |
Unrealized gain on term loan |  |  | $ (1,701,000) | 0 | $ (1,356,000) | 0 |  |
Marketable investments |  |  | $ 1,200,000 |  | $ 1,200,000 |  | $ 1,200,000 |
Warrants, quoted price (in usd per share) |  |  | $ 0.11 |  | $ 0.11 |  |  |
Warrants outstanding (in shares) |  |  | 17,916,606 |  | 17,916,606 |  |  |
SR&ED investment tax credit |  |  | $ 0 | $ 0 | $ 0 | $ 100,000 |  |
Term Loan | Line of credit |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Face amount |  | $ 50,000,000.0 |  |  |  |  |  |
Non-dilutive financing |  | $ 25,000,000.0 |  |  |  |  |  |
Premium payment, percentage of amount prepaid from common stock issuance proceeds |  | 10.00% |  |  |  |  |  |
Unrealized gain on term loan |  |  | $ (1,700,000) |  | $ (1,400,000) |  |  |
Term Loan | Line of credit | Debt tranche one |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Face amount |  | $ 15,000,000.0 |  |  |  |  |  |
Term Loan | Line of credit | Debt tranche three |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Face amount |  | $ 20,000,000.0 |  |  |  |  |  |

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