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Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)
$ in Thousands
 1 Months Ended 9 Months Ended
Aug. 07, 2023
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Summary Of Significant Accounting Policies [Line Items]        
Cash and cash equivalents   $ 19,841   $ 43,088
Aggregate principal amount outstanding   $ 30,000    
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 $ 837  
Other Current Assets        
Summary Of Significant Accounting Policies [Line Items]        
Inventory   1,300   $ 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]        
Private placement in net equity proceeds $ 15,300