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Stockholders' Equity - Common Stock Warrants (Details) - Common Warrants - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Class Of Warrant Or Right [Line Items]    
Outstanding Number of Warrants (in shares) 4,665,201 5,153,291
Class Of Warrant Or Right Weighted Average Exercise Price (in dollars per share) $ 7.76 $ 7.01
Warrants issued (in shares) 81,848  
Warrants issued (in dollars per share) $ 2.94  
Warrants exercised (in shares) (569,938)  
Warrants exercised (in dollars per share) $ 0.26  
Warrants Exercisable, Weighted Average Remaining Warrant Term (in years) 1 year 7 months 6 days  
Warrants Exercisable, Number of Warrants (in shares) 4,665,201  
Warrants Exercisable, Weighted Average Exercise Price (in dollars per share) $ 7.76  
Weighted Average Remaining Life, Exercisable 1 year 7 months 6 days