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Description of Business (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Organization Consolidation Basis Of Presentation Business Description And Accounting Policies [Line Items]      
Cash, cash equivalents and restricted cash $ 12,696 $ 11,822 $ 26,953
Short-term investments 19,808 0  
Cash used in operating activities 31,251 24,950  
Principal payments 6,313 $ 714  
Accounts Payable Accrued Expenses And Lease Liabilities      
Organization Consolidation Basis Of Presentation Business Description And Accounting Policies [Line Items]      
Current capital commitments 6,300    
Loan Principal Payments      
Organization Consolidation Basis Of Presentation Business Description And Accounting Policies [Line Items]      
Current capital commitments 10,600    
Lease Liabilities      
Organization Consolidation Basis Of Presentation Business Description And Accounting Policies [Line Items]      
Noncurrent capital commitments 5,000    
Third Party Settlement      
Organization Consolidation Basis Of Presentation Business Description And Accounting Policies [Line Items]      
Noncurrent capital commitments 100    
Convertibe Note Principal Payments      
Organization Consolidation Basis Of Presentation Business Description And Accounting Policies [Line Items]      
Noncurrent capital commitments $ 800