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Fair Value Measurements - Change in the Warrant Liability and Contingent Consideration (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Mar. 29, 2023
Dec. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Contingent Consideration        
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]        
Beginning balance     $ 1,453 $ 8,439
Additions     2,457 431
Changes in fair value   $ (1,833)   2,583
Settlements     (500) (10,000)
Other     (65)  
Ending balance   1,512 1,512 1,453
Preferred Warrants        
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]        
Ending balance   58 58  
Private Placement Warrants        
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]        
Beginning balance     600 3,960
Additions   0   0
Changes in fair value   (576)   (3,360)
Settlements     0 0
Other   0    
Ending balance   24 24 600
Preferred Warrants        
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]        
Beginning balance     0 0
Additions $ 8,700 8,667   0
Changes in fair value   (8,609)   0
Settlements     $ 0 0
Other   $ 0    
Ending balance       $ 0