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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