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Borrowings - Narrative (Details)	1 Months Ended		12 Months Ended
	Nov. 30, 2021 USD ($) installment	Sep. 30, 2017 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	May 31, 2022 USD ($)
2017 Term loan | Loan payable | Innovatus Life Sciences Lending Fund
Debt Instrument [Line Items]
Term loan borrowings		$ 25,000,000	$ 0
Interest rate (as a percent)	8.00%
Term loan, paid in-kind, interest rate	2.00%
Term loan, effective interest rate	8.50%
Number of monthly installments | installment	24
Term loan, fee incurred upon payment of final installment			$ 1,000,000
Term loan, prepayment premium percentage	2.00%
Term loan, annual reduction in prepayment penalty percentage	1.00%
Term loan, covenant, revenue performance period			12 months
Term loan, covenant, number of days to cure covenant if performance measure is not met			60 days
Term loan covenant, minimum unrestricted cash balance	$ 2,000,000.0
Term loan covenant, increase to interest rate			4.00%
2017 Term loan | Paid in-kind note | Innovatus Life Sciences Lending Fund
Debt Instrument [Line Items]
Term loan, paid in-kind loans issued			$ 600,000	$ 500,000
Equipment Notes Payable
Debt Instrument [Line Items]
Term loan, effective interest rate					5.28%
Notes payable					$ 800,000
Notes payable current					200,000
Notes payable noncurrnet					$ 600,000

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