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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