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Debt - Narrative (Details)
 1 Months Ended 3 Months Ended 9 Months Ended
Feb. 28, 2023
USD ($)
installment
Sep. 30, 2020
USD ($)
shares
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Mar. 01, 2023
Jan. 31, 2023
Dec. 31, 2022
Debt Instrument [Line Items]                  
Principal payment number of installment | installment 1                
Minimum annual net revenue         $ 45,000,000        
Amortization of debt discount and issuance costs         $ 207,000 $ 192,000      
Term Loan                  
Debt Instrument [Line Items]                  
Face amount   $ 60,000,000              
Proceeds from long term debt   50,000,000              
Unused borrowing capacity   $ 10,000,000              
Interest rate   12.50%              
Effective percentage 12.50%   16.80%   16.80%   13.50%    
Redemption fee, percent 10.00%                
Minimum annual net revenue $ 45,000,000                
Backend fee     $ 2,735,000   $ 2,735,000        
Amortization of debt discount and issuance costs     100,000 $ 100,000 200,000 200,000      
Interest expense     2,200,000 $ 1,900,000 6,300,000 $ 5,600,000      
Term Loan | Series B Redeemable Convertible Preferred Stock                  
Debt Instrument [Line Items]                  
Backend fee   $ 1,000,000              
Warrants outstanding (in shares) | shares   346,823              
Warrant liability, noncurrent   $ 600,000              
Term Loan | Payment In Cash                  
Debt Instrument [Line Items]                  
Interest rate               8.50% 7.50%
Term Loan | Payment in Kind (PIK) Note                  
Debt Instrument [Line Items]                  
Face amount     $ 3,900,000   $ 3,900,000        
Interest rate               5.00% 5.00%
Term Loan | Minimum                  
Debt Instrument [Line Items]                  
Effective percentage 15.70%                
Term Loan | Maximum                  
Debt Instrument [Line Items]                  
Effective percentage             16.80%