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Loans and Convertible Notes Payable - Summary of Loans and Convertible Notes Payable (Details) - USD ($)
$ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Debt Instrument [Line Items]    
Gross $ 5,000 $ 5,000
Discount (159) (228)
Net 4,841 4,772
Less Current Portion, Net (4,510) (7,846)
Total - Loans Payable, Non-Current, Gross 468 3,353
Total - Loans Payable, Non-Current, Discount (57) (284)
Total - Loans Payable, Non-Current, Net $ 411 $ 3,070
Percentage of final payment included in gross amount 4.25% 4.25%
Final payment $ 500 $ 500
Loan Avenue    
Debt Instrument [Line Items]    
Gross 5,610 11,923
Discount (689) (1,008)
Net 4,921 10,916
Less Current Portion, Gross (5,142) (8,570)
Less Current Portion, Discount 632 724
Less Current Portion, Net (4,510) (7,846)
Convertible Note Payable Rosalind    
Debt Instrument [Line Items]    
Gross 2,000 2,000
Discount 0
Net 2,000 2,000
Convertible Loan Payable Avenue    
Debt Instrument [Line Items]    
Gross 3,000 3,000
Discount (159) (228)
Net $ 2,841 $ 2,772