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Debt - Summary (Details) - Term loan - USD ($)
6 Months Ended
Jan. 05, 2023
Sep. 22, 2022
Mar. 11, 2020
Jun. 30, 2023
Dec. 31, 2022
Dec. 31, 2018
Debt            
End of term fee         $ 2,079,000  
Loan Agreement            
Debt            
Principal amount of advances outstanding     $ 35,000,000.0      
Interest rate (as a percent)       9.80%    
Fee due at maturity, as a percentage of aggregate advances       6.95%    
Repayment of debt $ 4,500,000   30,000,000.0      
End of term loan charge payment     2,100,000      
End of term loan charge     $ 300,000      
Loan origination costs       $ 1,300,000    
Initial fee paid to lender       $ 700,000    
Loan Agreement | Prime rate            
Debt            
Variable interest rate margin (as a percent)       9.80%    
Variable rate adjustment (as a percent)       5.50%    
Reference rate for effective interest rate (as percent)   6.25%        
Loan Agreement | Initial Advance            
Debt            
Principal amount of advances outstanding           $ 25,000,000.0
Loan Agreement | Tranche 7 Advance            
Debt            
Additional tranches       $ 10,000,000.0    
Hercules Capital Inc | Loan Agreement            
Debt            
Interest rate (as a percent)   10.55%