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Debt - Streeterville Note (Details)
1 Months Ended 12 Months Ended
Jan. 13, 2021
USD ($)
Jan. 31, 2021
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Debt        
Fair value     $ 31,000,000.0 $ 7,800,000
Streeterville Note        
Debt        
Principal amount $ 6,200,000      
Aggregate purchase price $ 6,000,000.0      
Debt term 4 years      
Interest rate (as a percent) 3.25%      
Percentage of return bonus payable 1      
Percentage of reduction in return bonus   1    
Term for initiation of human trials   6 months    
Percentage of outstanding balance payable elected to prepay     112.5  
Capped percentage of aggregate default 25.00%      
Fair value $ 6,000,000.0   $ 9,800,000 7,800,000
Transaction expense $ 25,000      
Decrease in fair value     $ (2,000,000.0) $ 20,000
Streeterville Note | Maximum        
Debt        
Interest rate (as a percent) 18.00%      
Percentage of gross proceeds received from return     18  
Percentage of default effect 15.00%      
Streeterville Note | Minimum        
Debt        
Interest rate (as a percent)     1.00%  
Percentage of default effect 5.00%      
Accounts Receivable Purchase Agreement | Streeterville Note        
Debt        
Interest rate (as a percent) 25.00%      
Transaction fee $ 25,000