Notes Payable - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Line of Credit Facility [Line Items]
Notes payable	$ 1,677	$ 2,119
Notes payable ($0.2 million related parties)	1,477	1,797
Notes payable - long-term portion	200	322
Related Party [Member]
Line of Credit Facility [Line Items]
Interest expense	0	482
Notes payable ($0.2 million related parties)	200	200
Bank Credit [Member]
Line of Credit Facility [Line Items]
Notes payable	1,190	1,623
Notes Payable, Related Parties [Member]
Line of Credit Facility [Line Items]
Notes payable	168	$ 0
Interest expense	$ 33,000
Senior Secured Convertible Notes [Member]
Line of Credit Facility [Line Items]
Debt instrument, interest rate, stated percentage	7.00%
Securities Purchase Agreement [Member] | Senior Secured Convertible Notes [Member]
Line of Credit Facility [Line Items]
Convertible notes	$ 3,300