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Stockholders' Equity - At-the-Market Offering (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2023
Dec. 31, 2022
Stockholders Equity Note [Line Items]      
Sale of stock consideration received on the transaction $ 197 $ 197 $ 100
Number of shares sold (in shares) 0 0  
Controlled Equity Offering Sales Agreement | Cantor Fitzgerald & Co      
Stockholders Equity Note [Line Items]      
Common stock, aggregate offering price $ 17,000 $ 17,000  
Sale of stock consideration received on the transaction $ 4,000 $ 4,000