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Income Taxes - Net Operating Loss Carryforwards (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)
Federal
Income Taxes
Operating loss carryforwards	$ 188.8
Research and development tax credits	3.8
Federal | Federal tax income
Income Taxes
Operating loss carryforwards	$ 132.0
Operating loss carryforwards, percent	80.00%
State
Income Taxes
Operating loss carryforwards	$ 117.9
Research and development tax credits	2.5
Foreign
Income Taxes
Operating loss carryforwards	$ 36.6

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- Definition

Represents the operating loss carryforwards percentage.

+ References

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- Definition

Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-3

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- Definition

The amount of the tax credit carryforward, before tax effects, available to reduce future taxable income under enacted tax laws.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-3

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