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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%