Long-term Debt - MidCap Term Loan (Details) - MidCap Term Loan - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	May 26, 2022
Long term Debt
Debt amount	$ 40,000		$ 40,000	$ 40,000
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	$ 1,300	$ 1,200
Amortization of debt issuance costs	$ 200	$ 100
Maximum
Long term Debt
Extension for interest only payment period	48 months
Minimum
Long term Debt
Extension for interest only payment period	12 months
First year
Long term Debt
Percentage of prepayment penalty on prepaid principal amount	3.00%
Second year
Long term Debt
Percentage of prepayment penalty on prepaid principal amount	2.00%
Third year
Long term Debt
Percentage of prepayment penalty on prepaid principal amount	1.00%
SOFR
Long term Debt
Variable Interest Rate (as a percent)	1.00%