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Fair Value Measurements - Summary of Issuances, Exercises, Changes in Fair Value and Reclassifications of Level 3 Financial Instruments (Details)
$ in Thousands
3 Months Ended
Mar. 31, 2023
USD ($)
Common Stock Warrant Liability and Contingent Consideration  
Beginning balance $ 3,475
Ending balance 4,939
Common Stock Warrant Liability  
Common Stock Warrant Liability and Contingent Consideration  
Change in estimated fair value of common stock warrant liability and contingent consideration (7)
Contingent Consideration  
Common Stock Warrant Liability and Contingent Consideration  
Change in estimated fair value of common stock warrant liability and contingent consideration 421
Addition of estimated fair value of contingent consideration 1,300
Payments related to contingent consideration $ (250)