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Warrants - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 3 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jul. 11, 2022 | Nov. 30, 2020 | Oct. 31, 2020 | May 31, 2020 | Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2022 | Mar. 21, 2022
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Warrant liabilities |  |  |  |  | $ 437 |  | $ 606 |
Change in fair value of warrant liabilities |  |  |  |  | (168) | $ 25,959 |  |
Issuance of common stock upon exercise of public warrants (in shares) | 1,994,790 |  |  |  |  |  |  |
Additional Paid-In Capital |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Warrant liabilities | $ 700 |  |  |  |  |  |  |
Medium-term Notes | 2020 Loan and Security Agreement |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Term loan amount |  |  | $ 15,000 |  |  |  |  |
Series B-1 convertible preferred stock |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Share price (in dollars per share) |  |  | $ 3.9760 | $ 3.9760 |  |  |  |
May 2020 Warrants |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Percentage of coverage to purchase warrants |  |  |  | 5.00% |  |  |  |
Warrant term |  |  |  | 5 years |  |  |  |
Series B-1 convertible preferred stock |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Change in fair value of warrant liabilities |  |  |  |  |  | 100 |  |
October 2020 Warrants |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Warrant liabilities |  |  | $ 3,500 |  |  |  |  |
Warrant contractual term |  |  | 10 years |  |  |  |  |
Junior Convertible Preferred Stock |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Warrant contractual term |  | 5 years |  |  |  |  |  |
Change in fair value of warrant liabilities |  |  |  |  | $ 100 | $ 0 |  |
Class of warrant outstanding (in shares) |  | 3,122,931 |  |  |  |  |  |
Exercise price of warrants (in dollars per share) |  | $ 3.9760 |  |  |  |  |  |
Exercise price of warrants or rights extended value cap |  | $ 5,000 |  |  |  |  |  |
Fixed monetary amount |  | $ 5,000 |  |  |  |  |  |
Private placement warrants |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Warrant term |  |  |  |  |  |  |  | 5 years
Class of warrant outstanding (in shares) |  |  |  |  | 7,386,667 |  | 7,386,667 |
Exercise price of warrants (in dollars per share) |  |  |  |  |  |  |  | $ 11.50
Public Warrant |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Warrant term |  |  |  |  |  |  |  | 5 years
Class of warrant outstanding (in shares) | 16,471,814 |  |  |  |  |  |  | 4,666,664
Exercise price of warrants (in dollars per share) | $ 11.50 |  |  |  |  |  |  |
Redemption price per warrant (in dollars per share) | $ 0.01 |  |  |  |  |  |  |
Proceeds from exercise of Public Warrants | $ 22,900 |  |  |  |  |  |  |
Payments for redemption of Public Warrants | $ 200 |  |  |  |  |  |  |
Public Warrant | Motive Fund Vehicles Investor |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |
Class of warrant outstanding (in shares) |  |  |  |  |  |  |  | 13,799,940

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