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Derivative Liabilities (Tables)
12 Months Ended
Dec. 31, 2023
Derivative Instruments and Hedging Activities Disclosure [Abstract]  
Schedule of Changes in Fair Value of Derivative Liabilities
Changes in the fair value of recurring measurements included in Level 3 of the fair value hierarchy are presented as other income, net in our statements of operations and comprehensive income (loss) and were as follows for the years ended December 31, 2023, 2022, and 2021 (in thousands):
20232022
Balance at January 1,$1,656 $698 
2022 Exit Fee addition at fair value— 375 
Changes in estimated fair value:
2018 Exit Fee292 510 
2022 Exit Fee227 73 
2018 Exit Fee payment$(1,500)$— 
Fair value of exit fee derivative liabilities at December 31,$675 $1,656