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Stockholders' Equity - At-the-Market Continuous Equity Offering Program (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Feb. 28, 2021
Equity offering        
Net proceeds from issuance of common stock   $ 4,176 $ 3,401  
ATM Agreement        
Equity offering        
Maximum amount of shares to be issued       $ 50,000
Stock issued (in shares) 0 447,020    
Net proceeds from issuance of common stock   $ 4,200