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Debt - Schedule of Aggregate Amounts of Payments Due and Reconciliation of Debt Balances, Net of Debt Discount and Debt Issuance Costs (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Debt Disclosure [Abstract]    
Year ending December 31, 2024 $ 8,068  
Year ending December 31, 2025 2,500  
Year ending December 31, 2026 24,527  
Total debt 35,095  
Less current portion (8,068) $ (1,250)
Less unamortized debt discount and debt issuance costs (5,960)  
Add capitalized paid-in-kind interest 424  
Total long-term debt $ 21,491 $ 39,735