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Borrowings - Narrative (Details)
1 Months Ended 3 Months Ended 6 Months Ended
Apr. 28, 2023
USD ($)
Nov. 30, 2021
USD ($)
installment
Sep. 30, 2017
USD ($)
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
2017 Term loan | Innovatus Life Sciences Lending Fund | Loan payable              
Debt Instrument [Line Items]              
Term loan borrowings     $ 25,000,000        
Remaining borrowing capacity       $ 0   $ 0  
Term loan, interest rate 2.00%            
Term loan, paid in-kind, interest rate 1.50%            
Term loan, effective interest rate 10.80%            
Number of monthly installments | installment   10          
Term loan, fee incurred upon payment of final installment       $ 1,000,000   $ 1,000,000  
Term loan, prepayment premium percentage   2.00%          
Term loan, annual reduction in prepayment penalty percentage   1.00%          
Prepayment of principal $ 10,000,000            
Term loan, covenant, revenue performance period           12 months  
Debt instrument, minimum cash balance           50.00%  
Term loan, covenant, number of days to cure covenant if performance measure is not met           30 days  
Term loan covenant, minimum unrestricted cash balance   $ 2,000,000.0          
Term loan covenant, increase to interest rate       4.00%   4.00%  
2017 Term loan | Innovatus Life Sciences Lending Fund | Loan payable | Prime Rate              
Debt Instrument [Line Items]              
Variable rate 8.00%            
2017 Term loan | Innovatus Life Sciences Lending Fund | Paid in-kind note              
Debt Instrument [Line Items]              
Term loan, paid in-kind loans issued       $ 100,000 $ 100,000 $ 200,000 $ 300,000
Equipment Notes Payable              
Debt Instrument [Line Items]              
Term loan, effective interest rate       5.28%   5.28%  
Notes payable       $ 1,000,000   $ 1,000,000  
Notes payable, current       300,000   300,000  
Notes payable, noncurrent       $ 700,000   $ 700,000