Income Taxes - Summary of Tax Effects of Temporary Differences and Carryforwards of Deferred Tax Deferred Tax and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 57,256	$ 50,494
Depreciation and amortization	4,334	4,656
Accruals and reserves	4,187	3,577
Interest expense limitation carryforward	3,056	2,229
Research and development credits	2,043	2,250
Lease liability	90
Gross deferred tax assets	70,966	63,206
Less: valuation allowance	(70,746)	(63,206)
Net deferred tax assets	220
Deferred tax liability:
Debt discount	(151)
Lease liability	(69)
Total	$ 0	$ 0