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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, 2024
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2024
USD ($)
installment
Sep. 30, 2023
USD ($)
Dec. 31, 2023
USD ($)
Debt Instrument [Line Items]              
Loan repayment         $ 0 $ 10,000,000  
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    
Loan repayment $ 10,000,000            
Variable rate 8.00%            
Term loan, interest rate 2.00%            
Term loan, paid in-kind, interest rate 1.50%            
Term loan, effective interest rate     10.60%   10.60%    
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     1.00%   1.00%    
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 | 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     $ 1,200,000   $ 1,200,000   $ 800,000
Notes payable, current     400,000   400,000    
Notes payable, noncurrent     $ 800,000   $ 800,000