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Loans and Convertible Notes Payable - Summary of Loans and Convertible Notes Payable (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022
Debt Instrument [Line Items] |  |
Loans and notes payable, gross | $ 10,610 | $ 16,923
Discount | (460) | (1,235)
Loans and notes payable, net | $ 10,150 | 15,688
Percentage of final payment included in gross amount | 4.25% |
Final payment | $ 500 |
Loans Payable |  |
Debt Instrument [Line Items] |  |
Loans and notes payable, current, gross | 5,610 | 8,570
Loans and notes payable, non-current, gross | 0 | 3,353
Loans and notes payable, gross | 5,610 | 11,923
Discount, current | (371) | (724)
Discount, non-current | 0 | (283)
Discount | (371) | (1,007)
Loans and notes payable, current, net | 5,239 | 7,846
Loans and notes payable, non-current, net | 0 | 3,070
Loans and notes payable, net | 5,239 | 10,916
Convertible Notes Payable |  |
Debt Instrument [Line Items] |  |
Loans and notes payable, current, gross | 5,000 | 0
Loans and notes payable, non-current, gross | 0 | 5,000
Loans and notes payable, gross | 5,000 | 5,000
Discount, current | (89) | 0
Discount, non-current | 0 | (228)
Discount | (89) | (228)
Loans and notes payable, current, net | 4,911 | 0
Loans and notes payable, non-current, net | 0 | 4,772
Loans and notes payable, net | $ 4,911 | $ 4,772

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