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Long-Term Debt and Convertible Notes - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Aug. 15, 2023
Aug. 09, 2023
May 31, 2021
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Debt Instrument [Line Items]              
Amortization of debt issuance costs           $ 104,000  
Debt instrument convertible type of equity security   The Loan Agreement has a term of four years, with a springing maturity date that is 91 days prior to the stated maturity of our Notes (as defined below) (if still outstanding at such time).          
Loan agreement, term   4 years          
Loan agreement spring maturity date   91 days          
Debt instrument, interest rate 9.95%            
Accrued paid-in-kind interest $ 1.5            
Amortization of debt discount           180,000 $ 103,000
Other Accrued Liabilities              
Debt Instrument [Line Items]              
Term fee accreted       $ 200,000   200,000  
Common Stock              
Debt Instrument [Line Items]              
Initial conversion price/rate     $ 15.276        
Tranche 1A | Warrant              
Debt Instrument [Line Items]              
Percentage of principal amount of loan funded to lender   2.00%          
Hercules Capital Inc              
Debt Instrument [Line Items]              
Convertible debt issuable in connection with private placement 50,000,000            
Debt issuance costs incurred   $ 600,000          
Effective interest rate   14.50%          
Interest expense       900,000   1,800,000  
Interest expense, debt, excluding amortization       700,000   1,300,000  
Paid-in-kind interest amount       100,000   200,000  
Amortization of debt discount   $ 800,000   200,000   300,000  
Common stock exercise price, per share   $ 1.68          
Minimum cash covenant amount, requiring to hold cash   $ 8,500,000          
Maximum amount of market capitalization   400,000,000          
Warrants related fair value recongnized amount   400,000          
Debt instrument, face amount   $ 25,000,000          
Hercules Capital Inc | Maximum | Common Stock              
Debt Instrument [Line Items]              
Number of shares warrant issued to lender   297,619          
Hercules Capital Inc | Tranche 1A              
Debt Instrument [Line Items]              
Convertible debt issuable in connection with private placement 25,000,000            
Paid-in-kind interest amount           300,000  
Carrying value of debt       24,600,000   24,600,000  
Debt instrument, face amount   $ 25,000,000   25,000,000   25,000,000  
Debt issuance costs       700,000   700,000  
Hercules Capital Inc | Tranche 1B              
Debt Instrument [Line Items]              
Convertible debt issuable in connection with private placement 5,000,000            
Hercules Capital Inc | Tranche 1C              
Debt Instrument [Line Items]              
Convertible debt issuable in connection with private placement $ 20,000,000            
Notes              
Debt Instrument [Line Items]              
Amortization of debt issuance costs       $ 100,000 $ 51,000 100,000 100,000
Debt instrument, interest rate     1.50%        
Convertible debt issuable in connection with private placement     $ 150,000,000.0        
Debt issuance costs incurred           $ 1,000,000  
Effective interest rate       1.60%   1.60%  
Interest expense       $ 500,000 600,000 $ 1,100,000 1,200,000
Interest expense, debt, excluding amortization       400,000 $ 600,000 1,000,000 $ 1,100,000
Net proceeds from convertible notes financing     $ 149,000,000.0        
Debt instrument, maturity date     May 26, 2026        
Debt instrument, frequency of periodic payment     semi-annually        
Debt instrument, date of first required payment     Dec. 15, 2021        
Initial conversion price/rate     $ 65.462        
Debt instrument conversion ratio multiple of principal     $ 1,000        
Common shares registered for resale in connection with convertible notes     12,400,000        
Carrying value of debt       149,600,000   149,600,000  
Debt instrument, face amount       150,000,000.0   150,000,000.0  
Debt issuance costs       $ 400,000   $ 400,000  
Notes | Redemption Between May 24, 2024 and May 24, 2025              
Debt Instrument [Line Items]              
Debt instrument, redemption period, stock price exceeds in percentage of conversion price     250.00%        
Notes | Redemption On or After May 24, 2025              
Debt Instrument [Line Items]              
Debt instrument, redemption period, stock price exceeds in percentage of conversion price     200.00%