Long-term Debt - Summary of components of long-term debt (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Less: Unamortized discount	$ 0	$ (317)
Total debt	0	29,683
Less: Current portion of long-term debt	0	10,000
Long-term debt, noncurrent	0	19,683
Term loans payable
Debt Instrument [Line Items]
Term loans payable	$ 0	$ 30,000