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Loans and Convertible Notes Payable - Summary of Loans and Convertible Notes Payable (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Debt Instrument [Line Items]    
Loans and notes payable, gross $ 7,557 $ 10,610
Discount (200) (460)
Total - Loans and notes payable $ 7,357 10,150
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 2,557 5,610
Discount, current (149) (371)
Loans and notes payable, current, net 2,408 5,239
Convertible Notes Payable    
Debt Instrument [Line Items]    
Loans and notes payable, current, gross 5,000 5,000
Discount, current (51) (89)
Loans and notes payable, current, net $ 4,949 $ 4,911