Loans and Security Agreement - Narrative (Details) - Term loan		1 Months Ended	3 Months Ended		6 Months Ended
	Mar. 16, 2020 USD ($) $ / shares shares	Sep. 30, 2021 USD ($) installment	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Nov. 10, 2022 USD ($)
Term loan
Debt Instrument [Line Items]
Aggregate principal amount	$ 35,000,000	$ 7,500,000					$ 5,000,000
Calculation for number of shares of common stock able to be purchased by warrant, percentage of principal amount of relevant term loan funded funded	3.50%
Warrant exercise price calculation, period immediately preceding execution of loan agreement, number of trading days	5 days
Interest rate, base percentage	4.75%
Interest rate, additional percentage added to base percentage	4.00%
Initial interest rate percentage	8.75%
Effective interest rate	10.90%
Option to add interest rate amount to outstanding principal balance in lieu of paying such amount in cash, percentage	1.00%
Interest expense			$ 300,000	$ 400,000	$ 600,000	$ 800,000
Number of monthly installments | installment		10
Prepayment premium percentage		5.00%
Minimum liquidity floor		$ 5,000,000
Minimum principal amount pursuant to liquidity covenant		$ 15,000,000
Outstanding balance, net of unamortized issuance costs and unaccreted discount			9,400,000		9,400,000
Unamortized issuance costs and unaccreted discount			$ 600,000		$ 600,000
Term loan | Minimum
Debt Instrument [Line Items]
Period for which company is entitled to make interest-only payments	30 months
Term loan | Maximum
Debt Instrument [Line Items]
Period for which company is entitled to make interest-only payments	36 months
Term loan, first tranche
Debt Instrument [Line Items]
Aggregate principal amount	$ 22,500,000
Net draw down proceeds	21,200,000
Closing costs	$ 1,300,000
Exercise price of warrant (in dollars per share) | $ / shares	$ 18.15
Number of shares of common stock for which warrant is exercisable (in shares) | shares	43,388
Additional debt discount recognized	$ 500,000
Term loan, second and third tranches
Debt Instrument [Line Items]
Warrant exercise price calculation, period immediately preceding relevant funding, number of trading days	5 days
Term loan, second and third tranches | Maximum
Debt Instrument [Line Items]
Exercise price of warrant (in dollars per share) | $ / shares	$ 18.15
Term loan, second tranche
Debt Instrument [Line Items]
Aggregate principal amount	$ 5,000,000
Term loan, third tranche
Debt Instrument [Line Items]
Aggregate principal amount	$ 7,500,000