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Stockholders' Equity - Warrant activity (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Number of share warrants    
Outstanding, beginning balance (in shares) | shares 5,821,137  
Exercised (in shares) | shares (805,495)  
Outstanding, ending balance (in shares) | shares 5,015,642 5,821,137
Weighted average exercise price    
Outstanding, beginning balance (in dollars per share) | $ / shares $ 1.56  
Exercised (in dollars per share) | $ / shares 1.49  
Outstanding, ending balance (in dollars per share) | $ / shares $ 1.57 $ 1.56
Weighted average remaining contractual term 5 years 11 months 1 day 6 years 11 months 26 days
Aggregate intrinsic value | $ $ 5,194 $ 15,640