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Term Loan - Additional Information (Details) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
May 31, 2021 USD ($) $ / shares shares | Apr. 30, 2020 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Debt Instrument [Line Items] |  |  |  |
Percentage of fee on loan |  |  | 5.00% |
Deferred tax assets |  |  | $ 76,301 | $ 42,265
Term loan, non-current, net |  |  | 19,691 | 16,898
Other non-current liability |  |  | $ 501 | $ 30
Term A Loan Facility |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Line of credit facility, description |  |  | As of December 31, 2021, all amounts were drawn under the Term Loan A Facility such that all debt issuance costs were recorded as a debt discount. |
Loan Agreement |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Line of credit facility, description | In May 2021, the parties further amended the Loan Agreement (as amended, the “2021 Loan Agreement”). The 2021 Loan Agreement increased the Term A Loan Facility to up to $20.0 million, which was fully drawn as of December 2021. The Term B Loan Facility of up to $5.0 million was available to be drawn upon on achievement of certain additional milestones, on or before September 30, 2022, which expired unused. | In April 2020, the Company entered into a Loan and Security Agreement, (the “Loan Agreement”) with the lenders referred to therein, and Silicon Valley Bank (“SVB”), as collateral agent. The Loan Agreement provided for (i) a secured term A loan facility (the “Term A Loan Facility”) of up to $10.0 million and (ii) a secured term B loan facility (the “Term B Loan Facility”) of up to $5.0 million that became available upon the satisfaction of certain milestones, each of which was available to be drawn through May 31, 2021. The term loan is secured by certain assets of the Borrowers (as defined in the Loan Agreement), including substantially all of the assets of the Company, excluding the Company’s intellectual property. The term loan contains customary representations, warranties, affirmative covenants and also certain restrictive covenants. |  |
Warrants to purchase common stock | shares | 33,923 |  |  |
Warrant exercise price | $ / shares | $ 19.12 |  |  |
Warrant expiration date | May 28, 2031 | Jun. 30, 2025 |  |
Debt issuance costs, gross | $ 600 | $ 600 |  |
Proceeds from sale of available-for-sale securities, equity |  |  | $ 75,000 |
Debt instrument, interest rate |  | 4.25% | 8.50% |
Deferred tax assets | 400 |  |  |
Term loan, non-current, net |  |  | $ 19,700 |
Outstanding principal amount |  |  | 20,000 |
Unamortized debt discount |  |  | 300 |
Other non-current liability |  |  | $ 500 |
Loan Agreement | Measurement Input, Expected Dividend Payment |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Fair value of warrant assumptions, dividends | $ 0 |  |  |
Loan Agreement | Valuation Technique, Option Pricing Model | Measurement Input, Risk Free Interest Rate |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Fair measurement input | 0.016 |  |  |
Loan Agreement | Valuation Technique, Option Pricing Model | Measurement Input, Price Volatility |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Fair measurement input | 0.986 |  |  |
Loan Agreement | Valuation Technique, Option Pricing Model | Measurement Input, Expected Term |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Fair measurement input | 10 years |  |  |
Loan Agreement | Prime Rate |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Debt instrument, basis spread on variable rate |  |  | 1.00% |
Loan Agreement | Maximum |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Prepayment fee percentage |  |  | 3.00% |
Loan Agreement | Minimum |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Debt instrument, interest rate |  |  | 4.25% |
Prepayment fee percentage |  |  | 1.00% |
Loan Agreement | Other Assets |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Debt issuance costs, gross |  | $ 200 |  |
Loan Agreement | Term A Loan Facility |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Line of credit facility, maximum borrowing capacity |  | $ 10,000 |  |
Line of credit facility fully drawn amount |  |  | $ 20,000 |
Warrants to purchase common stock | shares |  | 25,000 |  |
Warrant exercise price | $ / shares |  | $ 22.06 |  |
Credit facility maturity date |  |  | Sep. 01, 2024 |
Loan Agreement | Term B Loan Facility |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Line of credit facility, maximum borrowing capacity |  | $ 5,000 |  |
Warrants to purchase common stock | shares | 11,305 |  |  |
Line of credit facility maximum borrowing capacity | $ 5,000 |  |  |
2023 Loan Agreement |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Line of credit facility, description |  |  | In January 2023, the Company executed a loan and security agreement with new lenders (the “2023 Loan Agreement”) and repaid its outstanding obligations under the 2021 Loan Agreement (see Note 11). As the Company had the intent and ability to refinance amounts due under the 2021 Loan Agreement pursuant to the terms of the 2023 Loan Agreement, as of December 31, 2022, the current portion of the outstanding principal obligation under the 2021 Loan Agreement was classified as long-term. As of December 31, 2022, the Company’s total obligations under the 2021 Loan Agreement were $19.7 million classified as term loan, non-current, net and $0.5 million classified as other non-current liability related to the final payment fee. The term loan, non-current, net is comprised of the outstanding principal amount of $20.0 million net of $0.3 million of unamortized debt discount. |

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