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Loans and Convertible Notes Payable - Summary of Loans and Convertible Notes Payable (Details) - USD ($)
$ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Debt Instrument [Line Items]    
Gross $ 10,610 $ 16,923
Less Current Portion, Net 5,080 7,846
Total - Loans Payable, Non-Current, Net $ 0 $ 3,070
Percentage of final payment included in gross amount 4.25% 4.25%
Final payment $ 500 $ 500
Loans Payable    
Debt Instrument [Line Items]    
Gross 5,610 11,923
Discount (530) (1,008)
Net 5,080 10,916
Less Current Portion, Gross 5,610 8,570
Less Current Portion, Discount (530) (724)
Less Current Portion, Net 5,080 7,846
Total - Loans Payable, Non-Current, Gross 0 3,353
Total - Loans Payable, Non-Current, Discount 0 (284)
Total - Loans Payable, Non-Current, Net 0 3,070
Convertible Notes Payable    
Debt Instrument [Line Items]    
Gross 5,000 5,000
Discount (124) (228)
Net 4,876 4,772
Notes And Loans Payable, Net, Current 2,876 0
Less Current Portion, Gross 3,000 0
Less Current Portion, Discount (124) 0
Notes And Loans Payable, Net, Noncurrent 2,000 4,772
Total - Loans Payable, Non-Current, Gross 2,000 5,000
Total - Loans Payable, Non-Current, Discount $ 0 $ (228)