Fair Value Measurements - Fair Value of Warrants (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]
Beginning balance	$ 7,977	$ 21,297
Ending balance	10,320	7,977	$ 21,297
Warrant | December 2023 Warrants And Junior Preferred Stock Warrants
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]
Beginning balance	384	5,000	1,528
Issuance of common stock on warrant exercise	0	(787)	0
Ending balance	4,889	384	5,000
Warrant | December 2023 Warrants And Junior Preferred Stock Warrants | Fair Value Adjustment Of Warrants
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]
Change in fair value	1,960	(3,829)	3,472
Warrant | December 2023 Warrants And Junior Preferred Stock Warrants | General and Administrative Expense
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]
Change in fair value	2,545	0	0
Warrant | Private placement warrants
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]
Beginning balance	222	0
Assumption of Warrants	0	4,875
Change in fair value	4,505	(20,239)
Change in fair value of warrant liability	4,505	(4,653)
Issuance of common stock on warrant exercise	0	0
Ending balance	$ 4,727	$ 222	$ 0