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Debt - Narrative (Details) | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
May 31, 2024 | Feb. 28, 2023 USD ($) installment | Sep. 30, 2020 USD ($) | Jun. 30, 2024 USD ($) | Jun. 30, 2023 USD ($) | Jun. 30, 2024 USD ($) | Jun. 30, 2023 USD ($) | 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 |  |  |  |  |  | $ 70,000,000.0 |  |  |  |  |  |
Amortization of debt discount and issuance costs |  |  |  |  |  | $ 132,000 | $ 133,000 |  |  |  |  |
Term Loan |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  | $ 60,000,000.0 |  |  |  |  |  |  |  |  |
Proceeds from long term debt |  |  | 50,000,000.0 |  |  |  |  |  |  |  |  |
Unused borrowing capacity |  |  | $ 10,000,000.0 |  |  |  |  |  |  |  |  |
Interest rate |  |  | 12.50% |  |  |  |  |  |  |  |  |
Effective percentage |  | 12.50% |  | 15.50% |  | 15.50% |  |  | 13.50% |  |  |
Final maturity extension period | 1 year |  |  |  |  |  |  |  |  |  |  |
Redemption fee, percent |  |  |  |  |  |  |  | 10.00% |  |  |  |
Minimum annual net revenue |  | $ 45,000,000 |  |  |  |  |  |  |  |  |  |
Backend fee |  |  |  | $ 2,103,000 |  | $ 2,103,000 |  |  |  |  |  |
Amortization of debt discount and issuance costs |  |  |  | 100,000 | $ 100,000 | 100,000 | 100,000 |  |  |  |  |
Interest expense |  |  |  | 2,200,000 | $ 2,100,000 | 4,400,000 | $ 4,100,000 |  |  |  |  |
Term Loan | Series B Redeemable Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Backend fee |  |  | $ 1,000,000.0 |  |  |  |  |  |  |  |  |
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 |  |  |  | $ 6,000,000.0 |  | $ 6,000,000.0 |  |  |  |  |  |
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% |  |  |

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