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Stockholders' Equity - Common Stock and Warrants (Details) $ / shares in Units, $ in Thousands | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | ---
Oct. 31, 2023 USD ($) $ / shares shares | Nov. 30, 2022 USD ($) | Sep. 30, 2021 USD ($) $ / shares shares | Mar. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2023 USD ($) vote $ / shares shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) shares
Convertible Debt |  |  |  |  |  |  |
Common stock, shares authorized (in shares) |  |  |  |  | 500,000,000 | 500,000,000 |
Voting right for each share held, number | vote |  |  |  |  | 1 |  |
Proceeds from issuance of private placement | $ | $ 29,800 |  |  |  |  |  |
Proceeds from equity financing, net of issuance costs | $ |  |  | $ 199,800 |  |  |  |
Gross cash proceeds from warrant exercises | $ |  |  |  | $ 19,200 | $ 12 | $ 0 | $ 19,230
Common Stock |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Stock issued from equity financing (in shares) | 2,467,104 |  | 11,296,660 |  |  |  | 11,296,660
Warrants exercised (in shares) |  |  |  |  | 1,220,100 |  | 2,554,999
At-The-Market |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Sale of stock, maximum aggregate gross offering proceeds | $ |  | $ 250,000 |  |  |  |  |
Number of shares issued, private placement (in shares) |  |  |  |  | 5,244,936 | 0 |
Offering price per share (in dollars per share) | $ / shares |  |  |  |  | $ 12.50 |  |
Aggregate net proceeds from stock offering | $ |  |  |  |  | $ 63,100 |  |
Common stock, capital share reserved for future issuance (in shares) |  |  |  |  | 184,400,000 |  |
At-The-Market | Common Stock |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Stock issued from equity financing (in shares) |  |  |  |  | 5,244,936 |  |
Private Placement |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Offering price per share (in dollars per share) | $ / shares | $ 12.16 |  | $ 10.18 |  |  |  |
Number of common shares called by warrants (in shares) |  |  | 8,349,705 |  |  |  |
Exercise price of warrants (in dollars per share) | $ / shares |  |  | $ 0.01 |  | $ 0.01 |  |
Private Placement | Warrants |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Offering price per share (in dollars per share) | $ / shares |  |  | $ 10.17 |  |  |  |
Private Placement | Common Stock |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Stock issued from equity financing (in shares) |  |  |  |  | 2,467,104 |  |
Stock Exercises at $7.98 |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ / shares |  |  |  | $ 7.98 |  |  |
Stock Exercises at $7.98 | Warrants |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Stock issued from equity financing (in shares) |  |  |  | 1,294,999 |  |  |
Stock Exercises at $7.06 |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ / shares |  |  |  | $ 7.06 |  |  |
Stock Exercises at $7.06 | Warrants |  |  |  |  |  |  |
Convertible Debt |  |  |  |  |  |  |
Stock issued from equity financing (in shares) |  |  |  | 1,260,000 |  |  |

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