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Related Party Transactions (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Aug. 31, 2021
Jun. 30, 2021
Related Party Transaction [Line Items]        
Related party revenue $ 0 $ 142    
2021 Notes | Convertible Senior Notes        
Related Party Transaction [Line Items]        
Aggregate principal amount     $ 7,500 $ 23,970
Remaining in Accrued Expenses and Other Current Liabilities | Board Of Directors        
Related Party Transaction [Line Items]        
Due to related parties $ 10      
Significant investor | 2021 Notes | Convertible Senior Notes        
Related Party Transaction [Line Items]        
Aggregate principal amount       $ 1,000