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Debt - Summary of Components of Third-Party Debt (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Debt Instrument [Line Items]    
Total principal amount of debt $ 60,000 $ 58,103
Plus: Accretion 58 213
Less: current portion of long-term debt, net of discounts (57,677) (53,360)
Less: unamortized deferred financing costs and debt discounts (2,381) (1,853)
Long-term debt, net of current portion and discounts   3,103
Convertible Notes    
Debt Instrument [Line Items]    
Total principal amount of debt   3,103
2021 Term Loan    
Debt Instrument [Line Items]    
Total principal amount of debt   $ 55,000
Fortress Term Loan    
Debt Instrument [Line Items]    
Total principal amount of debt $ 60,000