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Note Payable - Additional Information (Details)
$ in Thousands
12 Months Ended
Nov. 02, 2021
USD ($)
Tranche
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Debt Disclosure [Line Items]        
Debt Issuance Costs, Net     $ 1,074  
Interest expense recognized   $ 1,917 $ 1,808  
Loss on the extinguishment   $ 939    
Term Loan Facility [Member] | Silicon Valley Bank [Member]        
Debt Disclosure [Line Items]        
Loan maturity date Oct. 01, 2026      
End of term charge as percentage on principal amount 9.00%      
Loan, interest rate 8.10%      
Term Loan Facility [Member] | Silicon Valley Bank [Member] | Prime Rate [Member]        
Debt Disclosure [Line Items]        
Loan, interest rate 4.85%      
Term Loan Prepayment During First Year [Member] | Silicon Valley Bank [Member]        
Debt Disclosure [Line Items]        
Line of credit facility prepayment of premium percentage 1.50%      
Term Loan Prepayment During Second Year [Member] | Silicon Valley Bank [Member]        
Debt Disclosure [Line Items]        
Line of credit facility prepayment of premium percentage 1.00%      
Term Loan Prepayment After Second Year [Member] | Silicon Valley Bank [Member]        
Debt Disclosure [Line Items]        
Line of credit facility prepayment of premium percentage 0.00%      
Loan Agreement [Member] | Silicon Valley Bank [Member]        
Debt Disclosure [Line Items]        
Loan, interest rate 16.29%      
Debt discount $ 1,350      
Loan Agreement [Member] | Silicon Valley Bank [Member] | Legal Expenses [Member]        
Debt Disclosure [Line Items]        
Debt Issuance Costs, Net       $ 103
Loan Agreement [Member] | Term Loan Facility [Member] | Silicon Valley Bank [Member]        
Debt Disclosure [Line Items]        
Borrowing amount $ 50,000      
Debt instrument number of tranches | Tranche 3      
Proceeds from loan agreement $ 15,000      
Additional borrowing amount 15,000      
Line of credit facility additional discretionary $ 15,000      
Loan maturity date Oct. 01, 2026      
End of term charge as percentage on principal amount 9.00%      
Loan Agreement [Member] | Term Loan Facility [Member] | Silicon Valley Bank [Member] | Regulatory Milestone [Member]        
Debt Disclosure [Line Items]        
Additional borrowing amount $ 10,000