Long-term Debt - MidCap Term Loan (Details) - MidCap term loan - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023	May 26, 2022
Long term Debt
Debt amount	$ 40,000		$ 40,000		$ 40,000	$ 40,000
Interest due to unpaid obligation			2.00%
Interest Rate (as a percent)	6.25%		6.25%
Variable Interest Rate (as a percent)			1.00%
Debt Instrument, Variable Interest Rate, Type [Extensible Enumeration]			us-gaap:SecuredOvernightFinancingRateSofrOvernightIndexSwapRateMember
Interest-Only Period			36 months
Exit fee (as a percent)			5.00%
Interest expenses	$ 1,300	$ 1,300	$ 2,700	$ 2,500
Amortization of debt issuance costs	$ 200	$ 200	$ 300	$ 300
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%