Annual report pursuant to Section 13 and 15(d)

Loan and Security Agreement - Additional Information (Details)

v3.24.1
Loan and Security Agreement - Additional Information (Details) - USD ($)
12 Months Ended
Feb. 28, 2020
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Jun. 30, 2023
Jun. 30, 2022
Oct. 01, 2018
Aug. 31, 2017
Debt Instrument [Line Items]                
Loan and accretion of debt discount   $ 300,000 $ 500,000 $ 600,000        
Interest expense, debt   $ 1,300,000 $ 2,400,000 $ 2,600,000        
Average interest rate   11.49% 8.72% 8.07%        
Series E Redeemable Convertible Preferred Stock                
Debt Instrument [Line Items]                
Warrant to purchase stock             46,359  
Loan and Security Agreement | SOFR                
Debt Instrument [Line Items]                
Long term debt percentage rate of interest accrued         0.10%      
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank                
Debt Instrument [Line Items]                
Unrestricted cash balance           $ 10,000,000    
Term loan floating per annum rate of interest         8.07%      
Description of interest charges on loan   loan bore interest at the floating per annum rate of interest equal to the greater of (i) 8.07% and (ii) the sum of (a) a specific published 1-month secured overnight financing rate (SOFR) reported on the last business day of the month that immediately precedes the month in which the interest will accrue plus (b) 0.10%, plus (c) 6.40%            
Warrant to purchase stock 81,257              
Exercise price per share $ 9.23              
Estimated fair value upon issuance of warrants $ 600,000              
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | SOFR                
Debt Instrument [Line Items]                
Long term debt percentage rate of interest accrued         6.40%      
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              
Payment terms, description   The Term A Loan matured on March 1, 2024 (the “Maturity Date”) and the Company made a final payment of 3.83% of the original principal amount of the Term A Loan on the Maturity Date.            
Term loan maximum borrowing capacity 25,000,000.0              
Repayment of outstanding principal amount $ 9,600,000              
Debt instrument, maturity date Mar. 01, 2024              
Final payment fee percentage 3.83%