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Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)
$ in Thousands
 1 Months Ended 6 Months Ended
Aug. 07, 2023
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Summary Of Significant Accounting Policies [Line Items]          
Cash and cash equivalents and restricted cash   $ 17,496 $ 28,672 $ 43,174 $ 32,798
Description of lease   For lease classification determination, Management continues to use (i) 75% or greater to determine whether the lease term is a major part of the remaining economic life of the underlying asset and (ii) 90% or greater to determine whether the present value of the sum of lease payments is substantially all of the fair value of the underlying asset.      
Reserve for inventory   $ 0   100  
Restricted cash   100   100  
Refundable deposit   $ 5,000   $ 5,000  
Restricted Cash, Current, Statement of Financial Position [Extensible Enumeration]   Other Assets, Current   Other Assets, Current  
Excess and obsolete inventory   $ 115 $ 535    
Other Current Assets          
Summary Of Significant Accounting Policies [Line Items]          
Inventory   1,400   $ 1,400  
Other Long-term Assets          
Summary Of Significant Accounting Policies [Line Items]          
Refundable deposit   5,000      
Perceptive Term Loan Facility          
Summary Of Significant Accounting Policies [Line Items]          
Cash and cash equivalents and restricted cash   17,400      
Aggregate principal amount outstanding   $ 30,000      
Perceptive Term Loan Facility | Subsequent Event          
Summary Of Significant Accounting Policies [Line Items]          
Private placement in net equity proceeds $ 27,500