Long-term Debt - MidCap Term Loan (Details) - MidCap term loan - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 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	$ 4,000	$ 3,900
Amortization of debt issuance costs	$ 200	$ 200	$ 500	$ 400
Maximum [Member]
Long term Debt
Extension for interest only payment period			48 months
Minimum [Member]
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%