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Convertible Preferred Stock - 2022 Financing (Details) $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Oct. 31, 2022 USD ($) $ / shares shares | Jun. 30, 2022 USD ($) $ / shares shares | May 31, 2022 USD ($) $ / shares shares | Sep. 30, 2023 USD ($) | Sep. 30, 2022 USD ($) | Sep. 30, 2023 USD ($) | Sep. 30, 2022 USD ($) | Dec. 31, 2022 USD ($) Y | Dec. 31, 2021 USD ($) | Aug. 10, 2023 $ / shares | Jul. 31, 2023 shares | Jun. 30, 2023 | Jul. 31, 2021 shares | Mar. 31, 2021 shares | Nov. 30, 2020 shares
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) |  |  |  |  |  |  |  |  |  | $ 11.50 |  |  |  |  |
Loss on equity issuance | $ |  |  |  | $ 0 | $ 0 | $ (4,171) | $ 0 | $ (8,312) |  |  |  |  |  |  |
Change in fair value of tranche and warrant liabilities | $ |  |  |  |  |  |  |  | 2,186 | $ 379 |  |  |  |  |  |
Warrant liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Fair value of liabilities | $ | $ 11,966 |  |  |  |  |  |  | 15,819 |  |  |  |  |  |  |
Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Fair value of liabilities | $ | 6,347 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Business Combination scenario |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Enterprise value allocated | $ | $ 220 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Value assigned to the tranche rights and obligations | $ |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  |  |
Stock price | Business Combination scenario |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | 10.93 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected share price volatility | Minimum | Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 50.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected share price volatility | Maximum | Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 65.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Risk-free interest rate | Minimum | Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 4.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Risk-free interest rate | Maximum | Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 4.7 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Term | Minimum | Warrant liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | Y |  |  |  |  |  |  |  | 5.8 |  |  |  |  |  |  |
Term | Minimum | Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | Y |  |  |  |  |  |  |  | 0.2 |  |  |  |  |  |  |
Term | Maximum | Warrant liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | Y |  |  |  |  |  |  |  | 6.0 |  |  |  |  |  |  |
Term | Maximum | Series B-2 tranche liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | Y |  |  |  |  |  |  |  | 0.4 |  |  |  |  |  |  |
Dividend |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | $ | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Discount rate | Business Combination scenario |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | 30 |  |  |  |  |  |  |  |  |  |  |  |  |  |
2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss on equity issuance | $ |  |  |  |  |  |  |  | $ 4,702 |  |  |  |  |  |  |
Change in fair value of tranche and warrant liabilities | $ |  |  |  |  |  |  |  | $ 2,208 |  |  |  |  |  |  |
Series A-1 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.155 |  |  |  |  |  |  |  |  |  |  | 1.275 |  |  |
Series A-1 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 42.89 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.155 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series A-2 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.173 |  |  |  |  |  |  |  |  |  |  | 1.290 |  |  |
Series A-2 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 13.36 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.173 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series A-3 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.162 |  |  |  |  |  |  |  |  |  |  | 1.303 |  |  |
Series A-3 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 14.97 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.162 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series A-4 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.165 |  |  |  |  |  |  |  |  |  |  | 1.277 |  |  |
Series A-4 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 13.76 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.165 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series A-5 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.189 |  |  |  |  |  |  |  |  |  |  | 1.333 |  |  |
Series A-5 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 14.97 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.189 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series A-6 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants to purchase Series B-3 preferred stock (in shares) | shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 59,102
Exchange ratios | 1.190 |  |  |  |  |  |  |  |  |  |  | 1.351 |  |  |
Series A-6 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 17.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.190 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants to purchase Series B-3 preferred stock (in shares) | shares |  |  |  |  |  |  |  |  |  |  |  |  | 289,552 | 289,552 |
Exchange ratios | 1.154 |  |  |  |  |  |  |  |  |  |  | 1.250 |  |  |
Series B preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 10.52 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.154 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-1 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.167 |  |  |  |  |  |  |  |  |  |  | 1.296 |  |  |
Series B-1 preferred stock | Fair value of underlying stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 14.97 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-1 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares sold | shares |  | 247,185 | 247,185 |  |  |  |  |  |  |  |  |  |  |  |
Price of shares sold |  | $ 14.16 | $ 14.16 |  |  |  |  |  |  |  |  |  |  |  |
Net proceeds | $ |  | $ 3,499 | $ 3,499 |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 12.14 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1.167 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-2 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1 |  |  |  |  |  |  |  |  |  |  | 1 |  |  |
Percentage of then outstanding shares on an as-converted to common stock basis, offered | 99.20% |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-2 preferred stock | Fair value of underlying stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 14.16 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-2 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares sold | shares | 706,243 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Price of shares sold | $ 14.16 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net proceeds | $ | $ 9,755 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 14.16 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-2 preferred stock | B-2 Preferred Stock Financing, Second tranche, closings |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum number of shares agreed to sell | shares | 518,854 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate proceeds receivable | $ | $ 7,347 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum proceeds receivable through the sale of additional shares | $ | $ 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-2 preferred stock | B-2 Preferred Stock Financing, Third tranche |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of warrant or right, number of securities called by each warrant or right (in shares) | shares | 8 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants to purchase Series B-3 preferred stock (in shares) | shares | 2,448,428 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ 2.03 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum number of shares agreed to sell | shares | 306,053 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate proceeds receivable | $ | $ 4,334 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum proceeds receivable through the sale of additional shares | $ | $ 5,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum number of shares agreed to sell through sale of additional shares | shares | 353,121 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-3 preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of warrant or right, number of securities called by each warrant or right (in shares) | shares | 4 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants to purchase Series B-3 preferred stock (in shares) | shares |  |  |  |  |  |  |  |  |  |  | 2,239,309 |  |  |  |
Exchange ratios | 1 |  |  |  |  |  |  |  |  |  |  | 1 |  |  |
Series B-3 preferred stock | Fair value of underlying stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 3.24 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-3 preferred stock | Series B-3 Warrants exercise price per share |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B 2 Tranche Liability, measurement input | 2.03 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-3 preferred stock | 2022 Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of warrant or right, number of securities called by each warrant or right (in shares) | shares | 4 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants to purchase Series B-3 preferred stock (in shares) | shares | 2,824,974 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ 2.03 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion prices of the Company's preferred stock | $ 2.03 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratios | 1 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series B-3 preferred stock | B-2 Preferred Stock Financing, Second tranche, closings |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of warrant or right, number of securities called by each warrant or right (in shares) | shares | 4 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants to purchase Series B-3 preferred stock (in shares) | shares | 2,075,417 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ 2.03 |  |  |  |  |  |  |  |  |  |  |  |  |  |

X
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X
- Definition Exercise price per share or per unit of warrants or rights outstanding. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 505 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Publisher FASB -URI https://asc.fasb.org//1943274/2147481112/505-10-50-3 + Details
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