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The Company (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 9 Months Ended
Apr. 26, 2021
Nov. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items]          
Accumulated deficit     $ 497,609   $ 470,853
Net cash used in operating activities     16,360 $ 29,026  
Cash, cash equivalents, and short-term investments     61,300    
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%