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Fair Value Measurement - Schedule of Financial Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - Fair Value, Recurring [Member] - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Assets:    
Assets $ 52,467 $ 64,324
Liabilities:    
Liabilities 591 326 [1]
Money Market Funds    
Assets:    
Assets [2] 18,530 9,194
Commercial Paper    
Assets:    
Assets 8,736 22,549
Corporate Bonds    
Assets:    
Assets 7,332 10,797
Government bonds    
Assets:    
Assets 17,869 17,802
Public Warrants    
Liabilities:    
Liabilities 273 151 [1]
PIPE Warrants    
Liabilities:    
Liabilities 318 175 [1]
Government agency debt securities    
Assets:    
Assets [2]   3,982
Level 1    
Assets:    
Assets 18,530 9,194
Liabilities:    
Liabilities [1] 273 151
Level 1 | Money Market Funds    
Assets:    
Assets [2] 18,530 9,194
Level 1 | Commercial Paper    
Assets:    
Assets 0 0
Level 1 | Corporate Bonds    
Assets:    
Assets 0 0
Level 1 | Government bonds    
Assets:    
Assets 0 0
Level 1 | Public Warrants    
Liabilities:    
Liabilities 273 151 [1]
Level 1 | PIPE Warrants    
Liabilities:    
Liabilities 0 0 [1]
Level 1 | Government agency debt securities    
Assets:    
Assets [2]   0
Level 2    
Assets:    
Assets 33,937 55,130
Liabilities:    
Liabilities 318 175 [1]
Level 2 | Money Market Funds    
Assets:    
Assets 0 0 [2]
Level 2 | Commercial Paper    
Assets:    
Assets 8,736 22,549
Level 2 | Corporate Bonds    
Assets:    
Assets 7,332 10,797
Level 2 | Government bonds    
Assets:    
Assets 17,869 17,802
Level 2 | Public Warrants    
Liabilities:    
Liabilities 0 0 [1]
Level 2 | PIPE Warrants    
Liabilities:    
Liabilities 318 175 [1]
Level 2 | Government agency debt securities    
Assets:    
Assets [2]   3,982
Level 3    
Assets:    
Assets 0 0
Liabilities:    
Liabilities 0 0 [1]
Level 3 | Money Market Funds    
Assets:    
Assets 0 0 [2]
Level 3 | Commercial Paper    
Assets:    
Assets 0 0
Level 3 | Corporate Bonds    
Assets:    
Assets 0 0
Level 3 | Government bonds    
Assets:    
Assets 0 0
Level 3 | Public Warrants    
Liabilities:    
Liabilities 0 0 [1]
Level 3 | PIPE Warrants    
Liabilities:    
Liabilities $ 0 0 [1]
Level 3 | Government agency debt securities    
Assets:    
Assets [2]   $ 0
[1] See Note 10.
[2] are included in cash and cash equivalents on the condensed consolidated balance sheets as of March 31, 2023 and December 31, 2022.