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Debt - Narrative (Details)
 1 Months Ended 3 Months Ended
Feb. 28, 2023
USD ($)
installment
Sep. 30, 2020
USD ($)
Mar. 31, 2024
USD ($)
Mar. 31, 2023
USD ($)
May 01, 2024
Mar. 01, 2023
Jan. 31, 2023
Dec. 31, 2022
Sep. 24, 2020
USD ($)
shares
Debt Instrument [Line Items]                  
Principal payment number of installment | installment 1                
Minimum annual net revenue     $ 70,000,000            
Amortization of debt discount and issuance costs     $ 78,000 $ 64,000          
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%      
Minimum annual net revenue $ 45,000,000                
Backend fee     $ 2,258,000            
Amortization of debt discount and issuance costs     100,000 100,000          
Interest expense     2,300,000 $ 2,000,000          
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 | Subsequent Event                  
Debt Instrument [Line Items]                  
Redemption fee, percent         10.00%        
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     $ 5,300,000            
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%