Debt instrument, final payment fee percentage.

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Estimated fair value upon issuance of warrants.

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Unrestricted cash balance.

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Exercise price per share or per unit of warrants or rights outstanding.

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Number of securities into which the class of warrant or right may be converted. For example, but not limited to, 500,000 warrants may be converted into 1,000,000 shares.

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Face (par) amount of debt instrument at time of issuance.

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The average effective interest rate during the reporting period.

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Description of the interest rate as being fixed or variable, and, if variable, identification of the index or rate on which the interest rate is based and the number of points or percentage added to that index or rate to set the rate, and other pertinent information, such as frequency of rate resets.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Date when the debt instrument is scheduled to be fully repaid, in YYYY-MM-DD format.

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Description of the payment terms of the debt instrument (for example, whether periodic payments include principal and frequency of payments) and discussion about any contingencies associated with the payment.

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Discloses the single interest rate [if] applicable to the advances from the Federal Home Loan Bank, by branch, as of the Balance Sheet date.

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Amount of the cost of borrowed funds accounted for as interest expense for debt.

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Maximum borrowing capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility.

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The interest rate applicable to the portion of the carrying amount of long-term borrowings outstanding as of the balance sheet date, including current maturities, which accrues interest at a rate subject to change from time to time.

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Amount of cash outflow for payment of an obligation from a lender, including but not limited to, letter of credit, standby letter of credit and revolving credit arrangements.

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Loan and Security Agreement - Additional Information (Details) - USD ($)		12 Months Ended
	Feb. 28, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Jun. 30, 2023	Jun. 30, 2022	Oct. 01, 2018	Aug. 31, 2017
Debt Instrument [Line Items]
Loan and accretion of debt discount		$ 300,000	$ 500,000	$ 600,000
Interest expense, debt		$ 1,300,000	$ 2,400,000	$ 2,600,000
Average interest rate		11.49%	8.72%	8.07%
Series E Redeemable Convertible Preferred Stock
Debt Instrument [Line Items]
Warrant to purchase stock							46,359
Loan and Security Agreement \| SOFR
Debt Instrument [Line Items]
Long term debt percentage rate of interest accrued					0.10%
Loan and Security Agreement \| Oxford Finance LLC and Silicon Valley Bank
Debt Instrument [Line Items]
Unrestricted cash balance						$ 10,000,000
Term loan floating per annum rate of interest					8.07%
Description of interest charges on loan		loan bore 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%
Warrant to purchase stock	81,257
Exercise price per share	$ 9.23
Estimated fair value upon issuance of warrants	$ 600,000
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%
Loan and Security Agreement \| Oxford Finance LLC and Silicon Valley Bank \| August 2017 Loan
Debt Instrument [Line Items]
Borrowed amount								$ 15,000,000.0
Loan and Security Agreement \| Oxford Finance LLC and Silicon Valley Bank \| Term A Loan
Debt Instrument [Line Items]
Borrowed amount	25,000,000.0
Payment terms, description		The Term A Loan matured on March 1, 2024 (the “Maturity Date”) and the Company made a final payment of 3.83% of the original principal amount of the Term A Loan on the Maturity Date.
Term loan maximum borrowing capacity	25,000,000.0
Repayment of outstanding principal amount	$ 9,600,000
Debt instrument, maturity date	Mar. 01, 2024
Final payment fee percentage	3.83%