Debt - Additional Information (Details)	1 Months Ended		12 Months Ended
	Apr. 30, 2021 USD ($)	Sep. 30, 2020 USD ($) installment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Sep. 24, 2020 USD ($) shares	Apr. 30, 2020 USD ($)
Debt Instrument [Line Items]
Principal payment number of installment | installment		1
Effective percentage			12.50%
Amortization of debt discount and issuance costs			$ 258,000	$ 267,000
Term Loan
Debt Instrument [Line Items]
Face amount		$ 60,000,000
Proceeds from long term debt		50,000,000
Unused borrowing capacity		$ 10,000,000
Interest rate		12.50%
Redemption fee, percent		10.00%
Effective percentage			15.68%
Backend fee			$ 3,311,000
Amortization of debt discount and issuance costs			300,000	300,000
Interest expense			7,500,000	$ 7,400,000
Term Loan | Series B Redeemable Convertible Preferred Stock
Debt Instrument [Line Items]
Backend fee		$ 1,000,000
Warrants outstanding (in shares) | shares					346,823
Warrant liability, noncurrent					$ 600,000
Term Loan | Payment In Cash
Debt Instrument [Line Items]
Interest rate		7.50%
Term Loan | Payment in Kind (PIK) Note
Debt Instrument [Line Items]
Face amount			$ 1,900,000
Interest rate		5.00%
Paycheck Protection Program
Debt Instrument [Line Items]
Face amount						$ 4,000,000
Interest rate						1.00%
Extinguishment of debt	$ 4,100,000
Repurchased face amount	4,000,000
Interest payment	$ 100,000