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Fair Value Measurement - Schedule of Assets and Liabilities at Fair Value on a Recurring Basis (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022
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Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liabilities | $ 4,703 | $ 4,518
Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 31,667 | 43,859
Total liabilities | 4,703 | 4,518
Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 1,507 | 10,354
Recurring | U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 13,806 | 12,316
Recurring | Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 16,354 | 21,189
Recurring | Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liabilities | 4,703 | 4,518
(Level 1) | Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 15,313 | 22,669
Total liabilities | 0 | 0
(Level 1) | Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 1,507 | 10,354
(Level 1) | Recurring | U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 13,806 | 12,316
(Level 1) | Recurring | Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 1) | Recurring | Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liabilities | 0 | 0
(Level 2) | Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 16,354 | 21,189
Total liabilities | 0 | 0
(Level 2) | Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 2) | Recurring | U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 2) | Recurring | Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 16,354 | 21,189
(Level 2) | Recurring | Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liabilities | 0 | 0
(Level 3) | Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
Total liabilities | 4,703 | 4,518
(Level 3) | Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 3) | Recurring | U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 3) | Recurring | Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 3) | Recurring | Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liabilities | $ 4,703 | $ 4,518

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