Convertible and Redeemable Series A-2 Preferred Stock - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended						9 Months Ended
	Apr. 13, 2020	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Temporary Equity [Line Items]
Period between issuance and expiration of outstanding warrant	10 years
Proceeds from the Series A-2 and Warrant	$ 175,000
Preferred stock, dividends paid		$ 4,100	$ 4,100	$ 4,100	$ 4,100	$ 4,100	$ 4,100
Number of debt incurrence test ratio								4.5
Compound embedded derivative, change in net fair value								$ (1,814)	$ 4,664
Convertible And Redeemable Series A-2 Preferred Stock
Temporary Equity [Line Items]
Number of shares issued	17,500	17,500						17,500		17,500
Par value per share	$ 0.0001	$ 0.0001						$ 0.0001		$ 0.0001
Debt issuance costs, net	$ 1,300
Preferred stock, dividends paid		$ 4,100			4,100			$ 12,300	12,300
Percentage of discount on common stock market price								15.00%
Percentage of dividend rate steps downs per year								9.00%
Percentage of dividend rate increase per annum in the event of noncompliance								12.00%
Number of days dividend increase rate applicable noncompliance event occurred								90 days
Percentage of dividend rate increase per annum upon noncompliance occurred and thereafter								14.00%
Minimum repayment amount								$ 25,000
Temporary equity description								The Company may, at its option on any one or more dates, redeem all or a minimum portion (the lesser of (i) $25.0 million in aggregate stated value of the Convertible and Redeemable Series A-2 Preferred Stock and (ii) all of the Convertible and Redeemable Series A-2 Preferred Stock then outstanding) of the outstanding Convertible and Redeemable Series A-2 Preferred Stock in cash.With respect to any redemption of any share of the Convertible and Redeemable Series A-2 Preferred Stock prior to the third-year anniversary, the Company was subject to a make whole penalty in which the holders of the Convertible and Redeemable Series A-2 Preferred Stock are guaranteed a minimum repayment equal to outstanding redeemed stated value plus three years of dividends accrued or accruable thereon. Beginning on April 13, 2023, the Company is no longer subject to this make whole penalty.
Aggregate stated value of stock redeemed		25,000						$ 25,000
Compound embedded derivative, fair value net		27,800						27,800		$ 25,700
Convertible And Redeemable Series A-2 Preferred Stock | Other (Expense) Income
Temporary Equity [Line Items]
Compound embedded derivative, change in net fair value		700			$ 500			2,100	$ 1,600
Convertible And Redeemable Series A-2 Preferred Stock | 60-Day Period Prior to Seventh Anniversary
Temporary Equity [Line Items]
Temporary equity convertible into common stock		60,000						60,000
Convertible And Redeemable Series A-2 Preferred Stock | Year 5
Temporary Equity [Line Items]
Temporary equity convertible into common stock		60,000						60,000
Convertible And Redeemable Series A-2 Preferred Stock | Year 6
Temporary Equity [Line Items]
Temporary equity convertible into common stock		$ 120,000						$ 120,000