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Financial Instruments - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | ---
Aug. 10, 2023 | Jul. 31, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2021 | Dec. 31, 2022
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, noncurrent | $ 28,927 |  |  |  |  |  |  |  |  |
Warrants outstanding (in shares) | 14,266,605 |  |  |  | 14,266,605 |  | 14,266,605 |  |  | 2,871,084
Exercise price of warrants (in dollars per share) | $ 11.50 |  |  |  |  |  |  |  |  |
Outstanding warrant liabilities |  |  |  |  |  |  |  |  |  | $ 16,188
Proceeds from exercise of preferred stock warrants |  |  |  |  |  |  | $ 9,630 | $ 0 | $ 117 |
Warrant liability |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, noncurrent |  |  |  |  | $ 5,421 |  | 5,421 |  |  | 369
Contingent earnout liability |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, noncurrent |  |  |  |  | 9,023 |  | 9,023 |  |  |
Loss on equity issuance |  |  |  |  | (19,904) | $ 0 | (19,904) | 0 |  |
Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, current |  |  |  |  |  |  |  |  |  | 4,702
Series B-3 Warrant liabilities |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, current |  |  | $ 10,047 | $ 4,654 |  |  |  |  |  | $ 15,819
Gain on expired warrants | $ 18 |  |  |  |  |  |  |  |  |
Tranche and warrant liability |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Loss on equity issuance |  |  | $ 3,425 | $ 584 | 2,812 | $ 0 | (660) | $ (21) |  |
Public Warrants |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, noncurrent | $ 1,500 |  |  |  | $ 3,166 |  | $ 3,166 |  |  |
Warrants outstanding (in shares) | 8,333,272 |  |  |  | 8,333,272 |  | 8,333,272 |  |  |
Exercise price of warrants (in dollars per share) | $ 11.50 |  |  |  |  |  |  |  |  |
Closing price (in dollars per share) | $ 0.18 |  |  |  |  |  |  |  |  |
Private Placement Warrants |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, noncurrent | $ 1,068 |  |  |  | $ 2,255 |  | $ 2,255 |  |  |
Warrants outstanding (in shares) | 5,933,333 |  |  |  | 5,933,333 |  | 5,933,333 |  |  |
MTAC Warrants |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative liability, noncurrent | $ 2,568 |  |  |  |  |  |  |  |  |
Series B-3 |  |  |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |  |  |
Warrants to purchase Series B-3 preferred stock (in shares) |  | 2,239,309 |  |  |  |  |  |  |  |
Proceeds from exercise of preferred stock warrants |  | $ 4,530 |  |  |  |  |  |  |  |

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