Annual report pursuant to Section 13 and 15(d)

Loan and Security Agreement - Additional Information (Details)

v3.23.1
Loan and Security Agreement - Additional Information (Details)
12 Months Ended
Feb. 28, 2020
USD ($)
Installment
$ / shares
shares
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Nov. 30, 2021
shares
Oct. 01, 2018
shares
Aug. 31, 2017
USD ($)
Debt Instrument [Line Items]              
Interest payable   $ 100,000 $ 200,000        
Loan and accretion of debt discount   500,000 600,000 $ 500,000      
Interest expense, debt   $ 2,400,000 $ 2,600,000 $ 2,300,000      
Average interest rate   8.72% 8.07% 8.08%      
Series E Redeemable Convertible Preferred Stock              
Debt Instrument [Line Items]              
Warrant to purchase stock | shares         46,359 46,359  
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank              
Debt Instrument [Line Items]              
Unrestricted cash balance   $ 10,000,000.0          
Warrant to purchase stock | shares 81,257            
Exercise price per share | $ / shares $ 9.23            
Estimated fair value upon issuance of warrants $ 600,000            
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | August 2017 Loan              
Debt Instrument [Line Items]              
Borrowed amount             $ 15,000,000.0
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | Term A Loan              
Debt Instrument [Line Items]              
Borrowed amount $ 25,000,000.0            
Number of monthly installments | Installment 24            
Payment terms, description   The Term A Loan matures on March 1, 2024 (the “Maturity Date”) and was interest-only through March 1, 2022, followed by 24 equal monthly payments of principal and interest.          
Interest charges on loan 8.07%            
Description of interest charges on loan   The Term A Loan will bear interest at a floating per annum rate equal to the greater of (i) 8.07% or (ii) the sum of (a) the greater of (1) the thirty (30) day U.S. LIBOR rate reported in the Wall Street Journal on the last business day of the month that immediately precedes the month in which the interest will accrue or (2) 1.67%, plus (b) 6.40%.          
Term loan maximum borrowing capacity $ 25,000,000.0            
Repayment of outstanding principal amount $ 9,600,000            
Debt instrument, maturity date Mar. 01, 2024            
Debt instrument interest only payments maturity date Mar. 01, 2022            
Floor percent of thirty days libor 1.67%            
Final payment fee percentage 3.83%            
Interest payable $ 1,000,000.0            
Principal amount Prepayment amount percentage to be paid before first anniversary 3.00%            
Principal amount Prepayment amount percentage to be paid between first and second anniversary 2.00%            
Principal amount Prepayment amount percentage to be paid to be paid thereafter and prior to maturity 1.00%            
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | Term A Loan | LIBOR              
Debt Instrument [Line Items]              
Interest charges on loan 6.40%