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Debt - Additional Information (Details)
 1 Months Ended 12 Months Ended
Feb. 28, 2023
USD ($)
installment
Sep. 30, 2020
USD ($)
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Mar. 01, 2023
Jan. 31, 2023
Sep. 30, 2021
USD ($)
Sep. 24, 2020
USD ($)
shares
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     $ 283,000 $ 258,000        
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%   16.90%   13.50%      
Redemption fee, percent 10.00%              
Minimum annual net revenue $ 45,000,000              
Backend fee     $ 2,505,000          
Amortization of debt discount and issuance costs     300,000 300,000        
Interest expense     8,500,000 $ 7,500,000        
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       7.50%   8.50%    
Term Loan | Payment in Kind (PIK) Note                
Debt Instrument [Line Items]                
Face amount     $ 4,600,000          
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%