Long-term Debt, Senior Term Facility (Details) $ / shares in Units, $ in Thousands		1 Months Ended		3 Months Ended	12 Months Ended
	Sep. 06, 2022	Jun. 30, 2023 $ / shares shares	Sep. 30, 2021 $ / shares shares	Mar. 31, 2024 USD ($)	Dec. 31, 2023 USD ($) Payment $ / shares shares	Dec. 31, 2022 USD ($)
Long-term Debt [Abstract]
Loss on debt extinguishment					$ (909)	$ 0
Unamortized debt discount					406
Exit fee					450
SOFR [Member]
Long-term Debt [Abstract]
Term of variable rate	1 month
Basis spread on variable rate	0.50%
Interest rate floor	0.10%
Senior Term Facility [Member]
Long-term Debt [Abstract]
Warrants issued (in shares) | shares		800,000	373,626
Warrants, exercise price (in dollars per share) | $ / shares		$ 0.88	$ 1.82
MidCap Financial Trust [Member] | Senior Term Facility [Member]
Long-term Debt [Abstract]
Face amount of debt					$ 8,000
Maturity date					Sep. 01, 2026
Frequency of payment					monthly
Number of monthly principal payments plus interest | Payment					24
Notice period					30 days
Prepayment fee if prepayment is made within twelve months					4.00%
Prepayment fee if prepayment is made between twelve months and twenty-four months					3.00%
Prepayment fee if prepayment is made between twenty-four months and thirty-six months					2.00%
Prepayment fee if prepayment is made after thirty-six months					1.00%
Minimum net revenue threshold					$ 29,000
Minimum net revenue threshold by December 31, 2026					33,000
Minimum net revenue threshold by trailing 12-month period					36,000
Minimum unrestricted cash					3,000
Loss on debt extinguishment					900
Unamortized debt discount					400
Increase in fair value of warrants					400
Lender fees					100
Interest expense					1,600	900
Amortization of debt discount					100	$ 200
MidCap Financial Trust [Member] | Senior Term Facility [Member] | Minimum [Member]
Long-term Debt [Abstract]
Prepayment of debt					$ 5,000
MidCap Financial Trust [Member] | Senior Term Facility [Member] | Forecast [Member]
Long-term Debt [Abstract]
Minimum net revenue threshold by trailing 12-month period				$ 33,000
MidCap Financial Trust [Member] | Senior Term Facility [Member] | A&R Warrant [Member]
Long-term Debt [Abstract]
Warrants issued (in shares) | shares					800,000
Warrants, exercise price (in dollars per share) | $ / shares					$ 0.88
Warrants, expected term					10 years
MidCap Financial Trust [Member] | Senior Term Facility [Member] | Common Stock [Member]
Long-term Debt [Abstract]
Warrants issued (in shares) | shares					373,626
Warrants, exercise price (in dollars per share) | $ / shares					$ 1.82
Warrants, expected term					10 years
MidCap Financial Trust [Member] | Senior Term Facility [Member] | LIBOR [Member]
Long-term Debt [Abstract]
Basis spread on variable rate					7.50%
Interest rate floor					0.50%
MidCap Financial Trust [Member] | Senior Term Facility, Amendment [Member]
Long-term Debt [Abstract]
Face amount of debt					$ 20,000
Forward looking term					30 days
Interest rate floor					3.50%
Amount available to be drawn under condition					$ 30,000
Effective interest rate					13.68%	11.72%
Required percentage of certain insurance proceeds					100.00%
MidCap Financial Trust [Member] | Senior Term Facility, Amendment [Member] | SOFR [Member]
Long-term Debt [Abstract]
Term of variable rate					1 month
Base interest rate					0.10%
Basis spread on variable rate					7.50%
MidCap Financial Trust [Member] | Credit Facility #1 [Member]
Long-term Debt [Abstract]
Amount drawn					$ 8,000
MidCap Financial Trust [Member] | Credit Facility #2 [Member]
Long-term Debt [Abstract]
Amount drawn					$ 7,000
Percentage of administrative agent fess					0.50%
Percentage of credit extension					4.00%
MidCap Financial Trust [Member] | Credit Facility #3 [Member]
Long-term Debt [Abstract]
Amount available for amount drawn					$ 5,000
Percentage of credit extension					0.50%
Percentage of exit fee					4.00%
MidCap Financial Trust [Member] | Senior Term Facility, Third Amendment [Member]
Long-term Debt [Abstract]
Unamortized debt discount					$ 400	$ 500
Exit fee					500
Third party costs incurred					$ 13
MidCap Financial Trust [Member] | Senior Term Facility, Fourth Amendment, Credit Facility 1 [Member]
Long-term Debt [Abstract]
Percentage of credit extension					3.00%
MidCap Financial Trust [Member] | Senior Term Facility, Fourth Amendment, Credit Facility 2 [Member]
Long-term Debt [Abstract]
Percentage of credit extension					3.00%