Debt Obligations (Details) | | 1 Months Ended | 3 Months Ended | 12 Months Ended | | | |
May 31, 2023 | Jun. 30, 2023 USD ($) $ / shares Rate shares | Mar. 31, 2024 USD ($) d Rate | Dec. 31, 2027 USD ($) | Dec. 31, 2026 USD ($) | Dec. 31, 2025 USD ($) | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) $ / shares shares | Mar. 31, 2022 USD ($) $ / shares shares |
Line of Credit Facility [Line Items] | | | | | | | | | |
Long-term debt, net | | | $ 99,874,000 | | | | $ 99,508,000 | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Term loan borrowing capacity | | | | | | | | | $ 150,000,000 |
Unamortized discount on debt | | | 6,100,000 | | | | | | |
Exit fee amount | | | $ 6,000,000 | | | | | | |
Exit fee percentage | Rate | | | 6% | | | | | | |
Term for exercise of warrants | | | 5 years | | | | | | |
Prepayment fee percentage | | | 3% | | | | | | |
Covenant compliance period | | | 1 year | | | | | | |
Weighted average interest rate | 8.01% | | 12.90% | | | | | | |
Incremental interest rate | Rate | | 0.10% | | | | | | | |
Interest expense | | | $ (3,800,000) | | | | | | |
Amortization of discount and related debt costs | | | 500,000 | | | | | | |
Minimum required cash and investments balance | | | 10,000,000 | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Forecast | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Debt payments | | | | $ 19,000,000 | $ 52,200,000 | $ 34,800,000 | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | LIBOR | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Basis spread on variable rate | 7.90% | | | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | First Tranche | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Term loan funded | | | | | | | | | $ 25,000,000 |
Warrants outstanding (in shares) | shares | | | | | | | | | 420,673 |
Exercise price of warrants (in dollars per share) | $ / shares | | | | | | | | | $ 2.08 |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | First Tranche | Secured Overnight Financing Rate (SOFR) | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Basis spread on variable rate | | 7.90% | | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Second Tranche | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Term loan funded | | | | | | | | $ 25,000,000 | |
Warrants outstanding (in shares) | shares | | | | | | | | 224,128 | |
Exercise price of warrants (in dollars per share) | $ / shares | | | | | | | | $ 1.95 | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Second Tranche | Secured Overnight Financing Rate (SOFR) | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Basis spread on variable rate | | 7.90% | | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Third tranche | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Term loan funded | | $ 50,000,000 | | | | | | | |
Warrants outstanding (in shares) | shares | | 183,824 | | | | | | | |
Exercise price of warrants (in dollars per share) | $ / shares | | $ 2.38 | | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Third tranche | Secured Overnight Financing Rate (SOFR) | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Basis spread on variable rate | Rate | | 7% | | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fourth Tranche | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Remaining term loan funding | | | $ 25,000,000 | | | | | | |
Warrant percentage of fourth tranche | Rate | | | 1.75% | | | | | | |
Number of days to determine average closing price of warrant shares | d | | | 10 | | | | | | |
Minimum required cash and investments balance | | | $ 25,000,000 | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fourth Tranche | Secured Overnight Financing Rate (SOFR) | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Basis spread on variable rate | Rate | | 7% | | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fifth Tranche | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Remaining term loan funding | | | $ 25,000,000 | | | | | | |
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Debt Instrument Redemption Period One and Two | | | | | | | | | |
Line of Credit Facility [Line Items] | | | | | | | | | |
Term loan funded | | | | | | | | $ 50,000,000 | |