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The Company (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Apr. 26, 2021 | Nov. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items] |  |  |  |  |
Accumulated deficit |  |  | $ 490,352 |  | $ 470,853
Net cash used in operating activities |  |  | 14,058 | $ 22,051 |
Cash, cash equivalents, and short-term investments |  |  | 63,600 |  |
Minimum annual net revenue |  |  | 45,000 |  |
Minimum cash and cash equivalents required after completion of IPO |  |  | $ 5,000 |  |
IPO |  |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |  |
Number of shares issued in transaction (in shares) | 6,900,000 |  |  |  |
Sale of stock (in dollars per share) | $ 17.00 |  |  |  |
Proceeds from issuance initial public offering | $ 117,300 |  |  |  |
Consideration received on transaction | 105,500 |  |  |  |
Sale of stock, underwriting discounts | 8,200 |  |  |  |
Sale of stock, offering costs | $ 3,600 |  |  |  |
Over-Allotment Option |  |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |  |
Number of shares issued in transaction (in shares) | 900,000 |  |  |  |
At-the-Market Equity Offering |  |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |  |
Number of shares issued in transaction (in shares) |  |  | 0 |  |
Proceeds from issuance of preferred stock, preference stock, and warrants |  | $ 150,000 |  |  |
Proceeds from issuance or sale by company of common stock |  | $ 50,000 |  |  |
Percentage of shares of common stock sold under sales agreement |  | 3.00% |  |  |

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