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Borrowings - Narrative (Details)
1 Months Ended 3 Months Ended 9 Months Ended
Apr. 28, 2023
USD ($)
Sep. 30, 2017
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
installment
Sep. 30, 2022
USD ($)
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     11.00%   11.00%  
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%   2.00%  
Term loan, annual reduction in prepayment penalty percentage     1.00%   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   $ 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 $ 300,000 $ 400,000
Equipment Notes Payable            
Debt Instrument [Line Items]            
Term loan, effective interest rate     5.28%   5.28%  
Notes payable     $ 900,000   $ 900,000  
Notes payable, current     300,000   300,000  
Notes payable, noncurrent     $ 600,000   $ 600,000