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Debt - MidCap Term Loan (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
May 26, 2022
MidCap Term Loan      
Long term Debt      
Debt amount $ 40,000,000 $ 40,000,000 $ 50,000,000.0
Interest due to unpaid obligation 2.00%    
Interest Rate (as a percent) 6.25%    
Interest-Only Period 36 months    
Exit fee (as a percent) 5.00%    
Interest expenses $ 5,200,000 2,600,000  
Amortization of debt issuance costs $ 600,000 $ 400,000  
MidCap Term Loan | Maximum      
Long term Debt      
Extension for interest only payment period 48 months    
MidCap Term Loan | Minimum      
Long term Debt      
Extension for interest only payment period 12 months    
MidCap Term Loan | First year      
Long term Debt      
Percentage Of Prepayment Penalty On Prepaid Principal Amount 3 3.00%    
MidCap Term Loan | Second year      
Long term Debt      
Percentage Of Prepayment Penalty On Prepaid Principal Amount 2 2.00%    
MidCap Term Loan | Third year      
Long term Debt      
Percentage of prepayment penalty on prepaid principal amount 1.00%    
MidCap Term Loan | SOFR      
Long term Debt      
Variable Interest Rate (as a percent) 1.00%    
Tranche One      
Long term Debt      
Debt amount     40,000,000.0
Tranche Two      
Long term Debt      
Debt amount $ 0   $ 10,000,000.0