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Fair Value of Financial Assets and Liabilities - Changes in Embedded Derivative Liability (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Embedded Derivative Financial Instruments | Level 3    
Fair value of embedded derivative liability    
Beginning aggregate estimated fair value of Level 3 liabilities $ 1,340  
Initial recording of embedded derivative   $ 1,590
Change in fair value of embedded derivative (190) (250)
Ending aggregate estimated fair value of Level 3 liabilities 1,150 1,340
Revenue Interest Financing Agreement    
Fair value of embedded derivative liability    
Beginning aggregate estimated fair value of Level 3 liabilities 1,340  
Change in fair value of embedded derivative 190 250
Ending aggregate estimated fair value of Level 3 liabilities $ 1,150 $ 1,340