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Commitments and Contingencies - Narrative (Details) - USD ($)
3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Other Commitments [Line Items]    
Operating lease liabilities that had not commenced. $ 0  
Purchase commitments related to inventory management and training materials 200,000 $ 400,000
Indemnification Agreement    
Other Commitments [Line Items]    
Costs to defend lawsuits or settle claims 0  
Liability associated with indemnifications $ 0