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Debt - MidCap Credit Agreements - Additional Information (Details) - USD ($)			12 Months Ended
	Nov. 09, 2022	May 06, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Debt, gross amount			$ 114,933,000	$ 45,659,000
Loss on early extinguishment of debt			5,308,000
Total debt issuance costs			4,494,000	2,749,000
MidCap Credit Agreements
Debt Instrument [Line Items]
Debt, gross amount		$ 70,000,000
Loss on early extinguishment of debt			(5,308,000)
Unamortized debt issuance costs			1,881,000
Fees incurred to early exit of debt			3,427,000
MidCap Credit Agreements \| Interest Expense
Debt Instrument [Line Items]
Amortization expense			$ 613,000	$ 586,000	$ 576,000
MidCap Credit Agreements \| Term Loan
Debt Instrument [Line Items]
Debt, gross amount		$ 40,000,000
MidCap Credit Agreements \| Term Loan \| LIBOR
Debt Instrument [Line Items]
Variable interest rate		6.00%
MidCap Credit Agreements \| Term Loan \| SOFR
Debt Instrument [Line Items]
Variable interest rate	6.00%
MidCap Credit Agreements \| Term Loan, First Commitment
Debt Instrument [Line Items]
Debt, gross amount		$ 10,000,000
MidCap Credit Agreements \| Term Loan, Second Commitment
Debt Instrument [Line Items]
Debt, gross amount		30,000,000
MidCap Credit Agreements \| Revolving Loan
Debt Instrument [Line Items]
Total borrowing capacity	$ 50,000,000	$ 30,000,000
Expiration date		May 01, 2026
MidCap Credit Agreements \| Revolving Loan \| LIBOR
Debt Instrument [Line Items]
Variable interest rate	3.00%	3.00%
MidCap Credit Agreements \| Revolving Loan \| SOFR
Debt Instrument [Line Items]
Variable interest rate	3.75%