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Long-term Debt - Terms (Details) - USD ($)				3 Months Ended
	Jan. 27, 2023	Jan. 09, 2023	Jan. 07, 2022	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Long-Term Debt
Repayments of Debt				$ 2,190,000	$ 0
Loss on extinguishment of debt				2,311,000	997,000
Repayments of debt				$ 20,000,000	10,500,000
Warrants included in additional paid-in capital					$ 1,317,000
Long-term debt, noncurrent						$ 19,879,000
Revenue Interest Financing Agreement.
Long-Term Debt
Revenue Interest Financing Agreement, Maximum Investment Amount		$ 100,000,000.0
Revenue Interest Financing Agreement, Initial Investment Amount	$ 32,500,000
A&R SVB Warrants
Long-Term Debt
Warrants included in additional paid-in capital			$ 1,300,000
Gain (loss) extinguishment component			700,000
Debt discount			$ 600,000
A&R SVB Warrants | SVB
Long-Term Debt
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)			250,000
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)			$ 5.14
SVB Warrant Initial Tranche
Long-Term Debt
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)				$ 3.05
Class of Warrant or Right, Outstanding (in shares)				100,000
Loan and Security Agreement with SVB
Long-Term Debt
Loss on extinguishment of debt			$ 1,000,000.0
Repayments of debt			10,500,000
Silicon Valley Bank Term Loan
Long-Term Debt
Long-term debt, noncurrent			$ 19,400,000
Amended and Restated Loan and Security Agreement
Long-Term Debt
Debt Instrument, Final Payment Fees, Percentage			5.00%
Debt instrument, final payment			$ 185,000
A&R Silicon Valley Bank Term Loan
Long-Term Debt
Interest rate threshold used in determining the floating interest rate at which interest accrues on the debt instrument			7.25%
Prime interest rate threshold used in determining the floating interest rate at which interest accrues on the debt instrument			4.00%
A&R Silicon Valley Bank Term Loan | Revenue Interest Financing Agreement.
Long-Term Debt
Repayments of Debt	$ 22,200,000
A&R Silicon Valley Bank Term Loan | Maximum
Long-Term Debt
Debt Issuance Costs, Noncurrent, Net			$ 100,000
Amended and Restated Loan and Security Agreement Tranche One
Long-Term Debt
Proceeds from Lines of Credit			$ 20,000,000.0

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Amount of increase in additional paid in capital (APIC) resulting from the issuance of warrants. Includes allocation of proceeds of debt securities issued with detachable stock purchase warrants.

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Exercise price per share or per unit of warrants or rights outstanding.

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Number of securities into which the class of warrant or right may be converted. For example, but not limited to, 500,000 warrants may be converted into 1,000,000 shares.

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Amount, excluding unamortized premium (discount) and debt issuance cost, of long-term debt classified as noncurrent. Excludes lease obligation.

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