Long-term Debt - Schedule of long term debt (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	May 26, 2022
Long term Debt
End of term charge	$ 2,000	$ 2,000
Unamortized end of term charge and issuance costs	(1,335)	(1,485)
Long-term debt	40,665	40,515
MidCap Term Loan
Long term Debt
MidCap Term Loan	$ 40,000	$ 40,000	$ 40,000