Loan and Security Agreement - Schedule of Principal Payments on Term Loan (Details) - Loan and Security Agreement, Term loan - Term loan $ in Thousands	Dec. 31, 2023 USD ($)
Debt Instrument [Line Items]
2024	$ 0
2025	0
2026	1,333
2027	3,200
2028	3,200
2029	267
Total	$ 8,000

Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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