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Notes Payable, Preferred Stock and Stock Purchase Warrants - Carrying Amount of Notes Payable (Details) - USD ($) $ in Thousands	Sep. 30, 2024	Dec. 31, 2023	Aug. 10, 2023	Jan. 27, 2021	Jul. 31, 2019
Debt Instrument [Line Items]
Carrying Amount	$ 34,448	$ 41,195
2025 Notes
Debt Instrument [Line Items]
Principal	20,399	20,399	$ 30,800	$ 6,800	$ 82,000
Debt (Discount) Premium	(1,006)	(3,090)
Issuance Costs	(17)	(52)
Carrying Amount	19,376	17,257	$ 20,400
Loan and Security Agreement
Debt Instrument [Line Items]
Principal	35,000	25,000
Debt (Discount) Premium	(280)	(733)
Issuance Costs	(272)	(329)
Carrying Amount	$ 34,448	$ 23,938

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