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Commitments and Contingencies (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Jun. 08, 2021 | Feb. 03, 2021 | Oct. 31, 2020 | Oct. 01, 2020 | Apr. 30, 2018 | Mar. 31, 2018
Other Commitments [Line Items] |  |  |  |  |  |  |  |
Royalty expense | $ 1,305 | $ 810 |  |  |  |  |  |
Accrued royalties | $ 544 | $ 264 |  |  |  |  |  |
Common warrant | PacWest Term Loan and Revolving Line of Credit | Line of credit |  |  |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |  |  |
Warrants issued (in shares) |  |  |  |  |  |  | 3,388 |
Common warrant | Trinity Term Loan | Class G |  |  |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |  |  |
Warrants issued (in shares) |  |  |  |  |  |  |  | 6,250
Exercise price (in dollars per share) |  |  |  |  |  |  |  | $ 35.42
Common warrant | Trinity Term Loan | Loans | Class G |  |  |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |  |  |
Warrants issued (in shares) |  |  |  |  | 1,844,000 | 1,844 |  | 6,250
Exercise price (in dollars per share) |  |  |  |  |  | $ 35.42 | $ 35.42 | $ 35.42
Private Warrants |  |  |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |  |  |
Warrants issued (in shares) | 10,150,000 |  |  |  |  |  |  |
Exercise price (in dollars per share) | $ 11.50 |  |  |  |  |  |  |
Private Warrants | Class G | PacWest |  |  |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |  |  |
Warrants issued (in shares) |  |  | 3,388 |  |  |  |  |
Warrants demanded (in shares) |  |  |  | 52,632 |  |  |  |

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- Definition Carrying value as of the balance sheet date of obligations incurred through that date and payable for royalties. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 944 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.7-03.15(a)) -URI https://asc.fasb.org/extlink&oid=126734703&loc=d3e572229-122910 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 942 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.9-03.15(5)) -URI https://asc.fasb.org/extlink&oid=126897435&loc=d3e534808-122878 + Details
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