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Convertible Notes - Additional Information (Details) - USD ($) |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Aug. 15, 2023 | Aug. 09, 2023 | May 31, 2021 | Dec. 31, 2023 | Dec. 31, 2022
Debt Instrument [Line Items] |  |  |  |  |
Amortization of debt issuance costs |  |  |  | $ 206,000 | $ 202,000
Debt instrument convertible type of equity security |  | The Loan Agreement has a term of four years, with a springing maturity date that is 91 days prior to the stated maturity of our existing senior unsecured convertible notes (if still outstanding at such time). |  |  |
Loan agreement, term |  | 4 years |  |  |
Loan agreement spring maturity date |  | 91 days |  |  |
Debt instrument, interest rate | 9.95% |  |  |  |
Accrued paid-in-kind interest | $ 1.5 |  |  |  |
Amortization of debt discount |  |  |  | 133,000 |
Common Stock |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Initial conversion price/rate |  |  | $ 15.276 |  |
Warrant |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Percentage of principal amount of loan funded to lender |  | 2.00% |  |  |
Hercules Capital Inc |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Convertible debt issuable in connection with private placement | 50,000,000 |  |  |  |
Debt issuance costs incurred |  | $ 600,000 |  |  |
Effective interest rate |  | 14.50% |  |  |
Interest expense |  |  |  | 1,300,000 |
Interest expense, debt, excluding amortization |  |  |  | 1,000,000 |
Paid-in-kind interest amount |  |  |  | 200,000 |
Amortization of debt discount |  | $ 800,000 |  | 100,000 |
Number of shares warrant issued to lender |  | 297,619 |  |  |
Common stock exercise price, per share |  | $ 1.68 |  |  |
Minimum cash covenant amount, requiring to hold cash |  | $ 8,500,000 |  |  |
Maximum amount of market capitalization |  | 400,000,000 |  |  |
Warrants related fair value recongnized amount |  | 400,000 |  |  |
Debt instrument, face amount |  | $ 25,000,000 |  |  |
Hercules Capital Inc | Common Stock |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Number of shares warrant issued to lender |  | 297,619 |  |  |
Hercules Capital Inc | Maximum | Common Stock |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Number of shares warrant issued to lender |  | 297,619 |  |  |
Hercules Capital Inc | Tranche 1A |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Convertible debt issuable in connection with private placement | 25,000,000 |  |  |  |
Carrying value of debt |  |  |  | 24,300,000 |
Debt instrument, face amount |  | $ 25,000,000 |  | 25,200,000 |
Debt issuance costs |  |  |  | 900,000 |
Hercules Capital Inc | Tranche 1B |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Convertible debt issuable in connection with private placement | 5,000,000 |  |  |  |
Hercules Capital Inc | Tranche 1C |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Convertible debt issuable in connection with private placement | $ 20,000,000 |  |  |  |
Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Amortization of debt issuance costs |  |  |  | 200,000 |
Debt instrument, interest rate |  |  | 1.50% |  |
Convertible debt issuable in connection with private placement |  |  | $ 150,000,000.0 |  |
Debt issuance costs incurred |  |  |  | $ 1,000,000.0 |
Effective interest rate |  |  |  | 1.60% |
Interest expense |  |  |  | $ 2,500,000 |
Interest expense, debt, excluding amortization |  |  |  | 2,300,000 |
Net proceeds from convertible notes financing |  |  | $ 149,000,000.0 |  |
Debt instrument, maturity date |  |  | May 26, 2026 |  |
Debt instrument, frequency of periodic payment |  |  | semi-annually |  |
Debt instrument, date of first required payment |  |  | Dec. 15, 2021 |  |
Initial conversion price/rate |  |  | $ 65.4620 |  |
Debt instrument conversion ratio multiple of principal |  |  | $ 1,000 |  |
Common shares registered for resale in connection with convertible notes |  |  | 12,400,000 |  |
Carrying value of debt |  |  |  | 149,500,000 |
Debt instrument, face amount |  |  |  | 150,000,000.0 |
Debt issuance costs |  |  |  | $ 500,000 |
Notes | Redemption Between May 24, 2024 and May 24, 2025 |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt instrument, redemption period, stock price exceeds in percentage of conversion price |  |  | 250.00% |  |
Notes | Redemption On or After May 24, 2025 |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt instrument, redemption period, stock price exceeds in percentage of conversion price |  |  | 200.00% |  |

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