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Fair Value Measurements - Streeterville Note (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Jan. 13, 2021
Fair value of liabilities measured on a recurring basis      
Fair value $ 31,000 $ 7,800  
Level 3      
Fair value of liabilities measured on a recurring basis      
Fair value 21,000   $ 20,200
Streeterville Note      
Fair value of liabilities measured on a recurring basis      
Fair value 9,793 7,839  
Streeterville Note | Level 3      
Fair value of liabilities measured on a recurring basis      
Fair value $ 9,793 $ 7,839 $ 7,800