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Debt Obligations (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Jun. 30, 2023
Dec. 31, 2022
Mar. 31, 2022
Debt Obligations [Abstract]              
Oxford Loan Facility             $ 150,000,000
Term Loan A             $ 25,000,000
Term Loan B           $ 25,000,000  
Term Loan C         $ 50,000,000    
Term Loan D $ 25,000,000   $ 25,000,000        
Term Loan E $ 25,000,000   $ 25,000,000        
Final Payment % with no extention 6.00%   6.00%        
Final Payment % with extention 7.00%   7.00%        
Term Loan A Final Payment $ 6,000,000   $ 6,000,000        
Term Loan A Warrants Number             420,673
Term Loan A Warrant Exercise Price             $ 2.08
Term Loan B Warrants Number           224,128  
Term Loan B Warrant Exercise Price           $ 1.95  
Term Loan C Warrants Number         $ 183,824    
Term Loan C Warrant Exercise Price         $ 2.38    
Term Loan D Warrant % 1.75%   1.75%        
Long-Term Debt $ 99,300,000   $ 99,300,000        
Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net 6,700,000   6,700,000        
2026 Oxford Principal Payments 34,800,000   34,800,000        
2027 Oxford Principal Payments 52,200,000   52,200,000        
2027 Oxford Principal Payments2 $ 19,000,000.0   $ 19,000,000.0        
Debt Instrument, Interest Rate, Stated Percentage 7.90%   7.90%        
Long-Term Debt, Percentage Bearing Fixed Interest, Percentage Rate 8.01%   8.01%        
Term Loan Incremental Interest Component 0.10%   0.10%        
Term Loan C & D, Interest Rate, Stated Percentage 7.00%   7.00%        
Debt, Weighted Average Interest Rate 12.90%   12.90%        
Interest Expense $ (3,899,000) $ (864,000) $ (7,680,000) $ (1,677,000)      
Amortization of Debt Discount (Premium)     $ 1,000,000.0