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Loan and Security Agreement - Additional Information (Details) - USD ($) $ in Thousands | 3 Months Ended |
--- | --- | ---
Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2022
Debt Instrument [Line Items] |  |  |
Debt, non-current |  |  | $ 3,771
Interest payable | $ 100 |  | 100
Loan and accretion of debt discount | 100 | $ 100 |
Interest expense, debt | $ 500 | $ 700 |
Average interest rate | 10.95% | 8.07% |
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank |  |  |
Debt Instrument [Line Items] |  |  |
Unrestricted cash balance | $ 10,000 |  |
Debt, current | 13,200 |  | 12,500
Debt, non-current | $ 0 |  | $ 3,800

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- Definition Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments. Excludes amortization of financing costs. Alternate captions include noncash interest expense. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 1A -URI https://asc.fasb.org/extlink&oid=124435984&loc=d3e28541-108399 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 470 -SubTopic 20 -Section 50 -Paragraph 1F -Subparagraph (b)(2) -URI https://asc.fasb.org/extlink&oid=123466505&loc=SL123495355-112611 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.8) -URI https://asc.fasb.org/extlink&oid=126953954&loc=SL114868664-224227 + Details
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