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Fair Value Measurements - Assets and Liabilities Measured on a Recurring Basis (Details) - USD ($) | Mar. 31, 2023 | Dec. 31, 2022
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Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | $ 27,528,000 | $ 50,648,000
Common stock warrant liability | 666,000 | 661,000
Private Placement Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 7,000 |
Public Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 700,000 |
U.S. treasuries |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 650,000 | 2,180,000
Corporate debt security |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 23,882,000 | 39,565,000
Asset-backed security and other |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 2,996,000 | 5,248,000
Non-U.S. government and supranational bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments |  | 3,655,000
Fair Value, Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 30,417,000 | 24,680,000
Short-term investments | 27,528,000 | 50,648,000
Total financial assets | 57,945,000 | 75,328,000
Common stock warrant liability | 497,000 | 405,000
Contingent Earn-out Shares liability | 616,000 | 564,000
Total financial liabilities | 1,779,000 | 1,630,000
Fair Value, Recurring | Private Placement Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 7,000 | 7,000
Fair Value, Recurring | Public Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 659,000 | 654,000
Fair Value, Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 30,417,000 | 22,481,000
Fair Value, Recurring | U.S. treasuries |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 650,000 | 2,180,000
Fair Value, Recurring | Corporate debt security |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents |  | 2,199,000
Short-term investments | 23,882,000 | 39,565,000
Fair Value, Recurring | Asset-backed security and other |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 2,996,000 | 5,248,000
Fair Value, Recurring | Non-U.S. government and supranational bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments |  | 3,655,000
Fair Value, Recurring | Level 1 |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 30,417,000 | 24,680,000
Short-term investments | 650,000 | 2,180,000
Total financial assets | 31,067,000 | 26,860,000
Common stock warrant liability | 0 | 0
Contingent Earn-out Shares liability | 0 | 0
Total financial liabilities | 659,000 | 654,000
Fair Value, Recurring | Level 1 | Private Placement Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 0 | 0
Fair Value, Recurring | Level 1 | Public Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 659,000 | 654,000
Fair Value, Recurring | Level 1 | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 30,417,000 | 22,481,000
Fair Value, Recurring | Level 1 | U.S. treasuries |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 650,000 | 2,180,000
Fair Value, Recurring | Level 1 | Corporate debt security |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents |  | 2,199,000
Short-term investments | 0 | 0
Fair Value, Recurring | Level 1 | Asset-backed security and other |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 0 | 0
Fair Value, Recurring | Level 1 | Non-U.S. government and supranational bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments |  | 0
Fair Value, Recurring | Level 2 |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 0 | 0
Short-term investments | 26,878,000 | 48,468,000
Total financial assets | 26,878,000 | 48,468,000
Common stock warrant liability | 0 | 0
Contingent Earn-out Shares liability | 0 | 0
Total financial liabilities | 7,000 | 7,000
Fair Value, Recurring | Level 2 | Private Placement Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 7,000 | 7,000
Fair Value, Recurring | Level 2 | Public Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 0 | 0
Fair Value, Recurring | Level 2 | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 0 | 0
Fair Value, Recurring | Level 2 | U.S. treasuries |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 0 | 0
Fair Value, Recurring | Level 2 | Corporate debt security |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents |  | 0
Short-term investments | 23,882,000 | 39,565,000
Fair Value, Recurring | Level 2 | Asset-backed security and other |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 2,996,000 | 5,248,000
Fair Value, Recurring | Level 2 | Non-U.S. government and supranational bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments |  | 3,655,000
Fair Value, Recurring | Level 3 |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 0 | 0
Short-term investments | 0 | 0
Total financial assets | 0 | 0
Common stock warrant liability | 497,000 | 405,000
Contingent Earn-out Shares liability | 616,000 | 564,000
Total financial liabilities | 1,113,000 | 969,000
Fair Value, Recurring | Level 3 | Private Placement Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 0 | 0
Fair Value, Recurring | Level 3 | Public Warrants |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Warrants liabilitites | 0 | 0
Fair Value, Recurring | Level 3 | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents | 0 | 0
Fair Value, Recurring | Level 3 | U.S. treasuries |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | 0 | 0
Fair Value, Recurring | Level 3 | Corporate debt security |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Cash and cash equivalents |  | 0
Short-term investments | 0 | 0
Fair Value, Recurring | Level 3 | Asset-backed security and other |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments | $ 0 | 0
Fair Value, Recurring | Level 3 | Non-U.S. government and supranational bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Short-term investments |  | $ 0

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