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Loans and Convertible Notes Payable - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended
Aug. 14, 2023
Mar. 31, 2023
Mar. 15, 2023
Aug. 06, 2021
Jan. 31, 2024
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Debt Instrument [Line Items]                    
Restricted cash           $ 0 $ 50 $ 0 $ 50  
Principal payments               6,107 6,313  
Final payment               500    
Proceeds from exercise of warrants               259 5  
Loan outstanding           $ 4,491   $ 4,491   $ 10,150
Warrants issued to purchase of common stock (in shares)       127,755            
Warrant exercise price (in dollars per share)   $ 0.01   $ 0.01            
Number of warrants outstanding (in shares)   34,072                
Series E                    
Debt Instrument [Line Items]                    
Debt instrument, conversion price (in dollars per share)       $ 1,198   $ 1,500   $ 1,500    
Preferred Tranche A Warrant                    
Debt Instrument [Line Items]                    
Proceeds from exercise of warrants $ 10,000                  
Avenue Loan                    
Debt Instrument [Line Items]                    
Debt instrument, principal face amount       $ 20,000            
Basis spread on variable interest rate       7.70%            
Stated interest rate       10.95%   16.20%   16.20%    
Initial tranche of loan       $ 15,000            
Loan amount funded into restricted account       $ 4,000            
Restricted cash     $ 4,000              
Principal payments     $ 2,100              
Debt instrument, incremental final payment, percentage     4.25%              
Final payment     $ 200              
Estimated minimum proceeds on issue of common stock for extension of due date of interest only interest payments   $ 10,000                
Principal payments         $ 1,000          
Loan outstanding           $ 2,500   $ 2,500    
Debt instrument, conversion price (in dollars per share)       $ 11.98            
Amortization of debt discount           200 200 400 400  
Interest expense incurred           100 300 400 800  
Rosalind Notes                    
Debt Instrument [Line Items]                    
Debt instrument, principal face amount           $ 2,000   $ 2,000    
Stated interest rate           8.00%   8.00%    
Interest expense incurred           $ 100 $ 100 $ 100 $ 100