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Stockholders' Equity - Preferred Stock (Details)
$ / shares in Units, $ in Millions
 1 Months Ended
Jan. 03, 2023
shares
Jan. 31, 2021
USD ($)
shares
Sep. 30, 2023
series
$ / shares
shares
Jan. 31, 2023
shares
Dec. 31, 2022
$ / shares
shares
Preferred Stock          
Preferred stock, authorized     5,000,000    
Preferred stock, par value (in dollars per share) | $ / shares     $ 0.001    
Minimum number of series used to issue preferred stock | series     1    
Series X redeemable convertible preferred stock          
Preferred Stock          
Preferred stock, authorized     91,380   91,380
Preferred stock, par value (in dollars per share) | $ / shares     $ 0.001   $ 0.001
Aggregate shares of series X preferred stock   35,573      
Gross proceeds from series X preferred stock | $   $ 110.0      
Net proceeds from series X preferred stock | $   $ 104.3      
Number of preferred shares converted during period 348        
Issuance of common stock upon the conversion of preferred stock (shares) 57,910        
Preferred stock, outstanding (in shares)     31,107   31,455
Common stock issuable upon conversion of the series X preferred stock     5,184,591 166.67