Annual report pursuant to Section 13 and 15(d)

Debt - Narrative (Details)

v3.24.1
Debt - Narrative (Details)
 12 Months Ended
Jun. 12, 2023
$ / shares
shares
May 04, 2022
USD ($)
tranche
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
Jul. 13, 2023
$ / shares
Mar. 31, 2021
USD ($)
Mar. 25, 2021
USD ($)
tranche
Debt Instrument [Line Items]              
Loss on debt extinguishment     $ 0 $ 1,097,000      
Common stock, par value (in dollars per share) | $ / shares $ 0.0001 $ 0.0001 $ 0.0001 $ 0.0001      
SVB Loan Agreement | Warrants Issued May 2022 | Silicon Valley Bank              
Debt Instrument [Line Items]              
Warrants, term   7 years          
Exercise price per warrant (in dollars per share) | $ / shares   $ 2.38          
SVB Loan Agreement | Maximum | Warrants Issued May 2022 | Silicon Valley Bank              
Debt Instrument [Line Items]              
Warrants to purchase shares (in shares) | shares   48,295          
SVB Loan Agreement, Amendment One | Warrants Issued June 2023 | Silicon Valley Bank              
Debt Instrument [Line Items]              
Warrants, term   7 years          
Exercise price per warrant (in dollars per share) | $ / shares $ 4.25       $ 3.01    
SVB Loan Agreement, Amendment One | Maximum | Warrants Issued June 2023 | Silicon Valley Bank              
Debt Instrument [Line Items]              
Warrants to purchase shares (in shares) | shares 190,330            
Secured Debt | Eastward Loan Agreement | Line of Credit              
Debt Instrument [Line Items]              
Aggregate principal amount available (up to)             $ 17,000,000
Number of tranches available | tranche             2
Amount borrowed           $ 15,000,000  
Loss on debt extinguishment       $ 1,100,000      
Secured Debt | SVB Loan Agreement | Line of Credit              
Debt Instrument [Line Items]              
Number of tranches available | tranche   2          
Covenant, end of term payment   $ 1,230,000          
Original discount   1,780,000          
Amortized discount of interest expense     $ 596,000 265,000      
Secured Debt | SVB Loan Agreement | Line of Credit | Tranche A              
Debt Instrument [Line Items]              
Aggregate principal amount available (up to)   15,000,000          
Secured Debt | SVB Loan Agreement | Line of Credit | Tranche B              
Debt Instrument [Line Items]              
Aggregate principal amount available (up to)   $ 5,000,000          
Secured Debt | SVB Loan Agreement, Amendment One | Line of Credit | Prepayment Fee Component One              
Debt Instrument [Line Items]              
Prepayment fee, percent of outstanding principal 2.50%            
Secured Debt | SVB Loan Agreement, Amendment One | Line of Credit | Prepayment Fee Component Two              
Debt Instrument [Line Items]              
Prepayment fee, percent of outstanding principal 1.50%            
Secured Debt | SVB Loan Agreement, Amendment One | Line of Credit | Prepayment Fee Component Three              
Debt Instrument [Line Items]              
Prepayment fee, percent of outstanding principal 0.50%            
Secured Debt | SVB Loan Agreement, Amendment One | Line of Credit | Interest Rate Component One              
Debt Instrument [Line Items]              
Interest rate 6.00%            
Secured Debt | SVB Loan Agreement, Amendment One | Line of Credit | Interest Rate Component Two              
Debt Instrument [Line Items]              
Interest rate 6.50%            
Secured Debt | SVB Loan Agreement, Amendment One | Line of Credit | Prime Rate | Interest Rate Component One              
Debt Instrument [Line Items]              
Interest rate 0.00%            
Secured Debt | SVB Loan Agreement, Amendment One | Line of Credit | Prime Rate | Interest Rate Component Two              
Debt Instrument [Line Items]              
Interest rate 0.50%            
Revolving Credit Facility | SVB Loan Agreement | Line of Credit              
Debt Instrument [Line Items]              
Amount borrowed     $ 0 $ 0      
Covenant, minimum revenue requirements, trailing measurement period   3 months          
Covenant, minimum cash and cash equivalents requirement, minimum net cash proceeds from sale of equity   $ 10,000,000          
Revolving Credit Facility | SVB Loan Agreement | Line of Credit | Prior to Tranche B Advance              
Debt Instrument [Line Items]              
Covenant, minimum cash and cash equivalents   25,000,000          
Revolving Credit Facility | SVB Loan Agreement | Line of Credit | Following Tranche B Advance              
Debt Instrument [Line Items]              
Covenant, minimum cash and cash equivalents   30,000,000          
Revolving Credit Facility | SVB Loan Agreement | Line of Credit | Borrowing Component One              
Debt Instrument [Line Items]              
Aggregate principal amount available (up to)   $ 5,000,000          
Revolving Credit Facility | SVB Loan Agreement | Line of Credit | Borrowing Component Two              
Debt Instrument [Line Items]              
Debt covenant, percent of eligible accounts   80.00%