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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