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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