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Stockholders' Equity - Authorized Shares and Preferred Stock (Details) - $ / shares | Mar. 31, 2024 | Dec. 31, 2023 | Mar. 31, 2023
--- | --- | --- | ---
Stockholders Equity Note [Line Items] |  |  |
Common stock, shares authorized (in shares) | 80,000,000 | 80,000,000 |
Common stock, par value (in dollars per share) | $ 0.01 | $ 0.01 | $ 0.01
Preferred stock, shares authorized (in shares) | 10,000,000 | 10,000,000 |
Preferred stock, par value (in dollars per share) | $ 0.01 | $ 0.01 | $ 0.01
Preferred stock, shares outstanding (in shares) | 16,809 | 24,819 |
Series E |  |  |
Stockholders Equity Note [Line Items] |  |  |
Preferred stock, shares outstanding (in shares) | 11,257 |  |
Series E-1 |  |  |
Stockholders Equity Note [Line Items] |  |  |
Preferred stock, shares outstanding (in shares) | 11,257 |  |
Series F-2 |  |  |
Stockholders Equity Note [Line Items] |  |  |
Preferred stock, par value (in dollars per share) | $ 3.30 |  |
Preferred stock, shares outstanding (in shares) | 2,542 |  |
Series F-3 |  |  |
Stockholders Equity Note [Line Items] |  |  |
Preferred stock, par value (in dollars per share) | $ 4.50 |  |
Preferred stock, shares outstanding (in shares) | 3,010 |  |

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