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Notes Payable and Convertible Notes - Convertible Notes Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Oct. 06, 2021
Debt Instrument [Line Items]        
Loan discount accretion expense $ 185 $ 0    
October 2021 Convertible Note | Convertible Note        
Debt Instrument [Line Items]        
Debt instrument, face amount       $ 15,000
Debt instrument, convertible, conversion price (in dollars per share)       $ 1.03
Interest rate, stated percentage       6.00%
Repayments of debt 1,100      
Debt instrument, unamortized discount $ 300   $ 400  
Debt instrument, convertible, remaining discount amortization period 1 year 3 months   1 year 9 months  
Interest expense, debt $ 500 300    
Loan discount accretion expense $ 100 $ 100