Quarterly report pursuant to Section 13 or 15(d)

Oxford Finance Loan Agreement - Additional Information (Details)

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Oxford Finance Loan Agreement - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Nov. 15, 2022
Jul. 03, 2022
Jul. 02, 2022
Feb. 12, 2020
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 23, 2020
Debt Instrument [Line Items]                    
Term loan         $ 40,000,000   $ 40,000,000      
Warrants to purchase common stock           211,709   211,709    
Long-term portion of debt         39,406,000   $ 39,406,000   $ 40,649,000  
Loan Agreement                    
Debt Instrument [Line Items]                    
Term loan, aggregate principal amount       $ 60,000,000.0            
Additional term loan advances, description       A first tranche term loan for $20.0 million was funded on February 12, 2020, and a second tranche term loan for $20.0 million was funded on December 23, 2020. The remaining $20.0 million is still available under the Loan Agreement, at the sole discretion of the Lender.            
Each of available additional term loan advances       $ 20,000,000.0            
Term loan, interest rate terms the floating annual rate for each term loan was amended to equal the greater of (i) 7.75% and (ii) the sum of (a) the 1-month CME Term SOFR reference rate, (b) 0.10%, and (c) 5.98%.     The term loan initially bore interest at an annual rate equal to the greater of (i) 7.75% and (ii) the sum of 5.98% and the greater of (A) one-month LIBOR or (B) 1.77%.            
Term loan, interest rate 7.75%     7.75%            
Term loan, effective interest rate 5.98%     5.98%            
Term loan, variable interest rate basis 1-month CME Term SOFR     one-month LIBOR            
Term loan, variable interest rate basis spread 0.10%     1.77%            
Term loan, maturity date       Feb. 01, 2025            
Extended interest only period upon consummation of merger and private placement   Mar. 01, 2024 Mar. 01, 2023              
Extended maturity date upon consummation of merger and private placement   Feb. 01, 2026 Feb. 01, 2025              
Extended interest only period upon achievement of certain milestones   Sep. 01, 2024                
Extended maturity upon consummation of merger and private placement   Aug. 01, 2026                
Term Loan, facilities fee       $ 300,000            
Term loan, final payment fee percentage       5.00%            
Warrant exercisable period from date of issuance             5 years      
Interest expense         $ 1,300,000 $ 1,000,000.0 $ 3,700,000 $ 3,000,000.0    
Loan Agreement | Advance Prepaid in First 12 Months                    
Debt Instrument [Line Items]                    
Term loan, prepayment fee, equal to percentage of the principal amount being prepaid       2.00%            
Loan Agreement | Advance Prepaid After 12 Months But Prior to 24 Months                    
Debt Instrument [Line Items]                    
Term loan, prepayment fee, equal to percentage of the principal amount being prepaid       1.00%            
Loan Agreement | Advance Prepaid After 24 Months But Prior to Maturity Date                    
Debt Instrument [Line Items]                    
Term loan, prepayment fee, equal to percentage of the principal amount being prepaid       0.50%            
Loan Agreement | First Loan Tranche                    
Debt Instrument [Line Items]                    
Term loan       $ 20,000,000.0            
Term Loan, facilities fee       $ 100,000            
Warrants to purchase common stock       2,754            
Warrant exercise price of common stock per share       $ 72.60            
Loan Agreement | Second Loan Tranche                    
Debt Instrument [Line Items]                    
Term loan                   $ 20,000,000.0
Term Loan, facilities fee                   $ 75,000
Warrants to purchase common stock                   1,738
Warrant exercise price of common stock per share                   $ 115.00
Loan Agreement | Third Loan Tranche                    
Debt Instrument [Line Items]                    
Term loan, facilities fee       $ 50,000