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Common Stock - Shelf Registration Statement (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
USD ($)
d
$ / shares
shares
Mar. 31, 2023
USD ($)
May 31, 2022
USD ($)
Dec. 31, 2020
USD ($)
Class of Stock [Line Items]        
Commission, percent of gross proceeds from sale of common stock 3.00%      
Proceeds from issuance of common stock $ 191 $ 0    
December 2020 ATM        
Class of Stock [Line Items]        
Maximum aggregate offering price of common stock, preferred stock, warrants, debt securities, and/or units       $ 50,000
Shelf registration, termination, prior written notice, number of days | d 10      
Sale of stock, remaining capacity $ 7,300      
Shares issued $ 200      
Stock issued (in shares) | shares 150,000      
Issuance of stock (in USD per share) | $ / shares $ 1.31      
Proceeds from issuance of common stock $ 200      
Underwriter commissions $ 6      
May 2022 ATM        
Class of Stock [Line Items]        
Maximum aggregate offering price of common stock, preferred stock, warrants, debt securities, and/or units     $ 80,000  
Shelf registration, termination, prior written notice, number of days | d 10      
Sale of stock, remaining capacity $ 80,000