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Loan and Security Agreement - Additional Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Debt Instrument [Line Items]          
Debt, non-current         $ 3,771
Interest payable $ 100   $ 100   100
Loan and accretion of debt discount 100 $ 100 300 $ 400  
Interest expense, debt $ 300 $ 600 $ 1,100 $ 1,800  
Average interest rate 11.76% 8.63% 11.38% 8.26%  
Loan and Security Agreement | SOFR          
Debt Instrument [Line Items]          
Long term debt percentage rate of interest accrued 0.10%   0.10%    
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank          
Debt Instrument [Line Items]          
Unrestricted cash balance $ 10,000   $ 10,000    
Debt, current 7,100   7,100   12,500
Debt, non-current $ 0   $ 0   $ 3,800
Term loan floating per annum rate of interest 8.07%   8.07%    
Description of interest charges on loan     loan bears interest at the floating per annum rate of interest equal to the greater of (i) 8.07% and (ii) the sum of (a) a specific published 1-month secured overnight financing rate (SOFR) reported on the last business day of the month that immediately precedes the month in which the interest will accrue, plus (b) 0.10%, plus (c) 6.40%.    
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | SOFR          
Debt Instrument [Line Items]          
Long term debt percentage rate of interest accrued 6.40%   6.40%