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Nature of the Business and Basis of Presentation (Details)
3 Months Ended 6 Months Ended
Apr. 12, 2024
USD ($)
Jun. 30, 2024
USD ($)
$ / shares
Jun. 30, 2024
USD ($)
segment
$ / shares
Jun. 30, 2023
USD ($)
Dec. 31, 2023
USD ($)
$ / shares
Jan. 26, 2022
$ / shares
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]            
Common stock, par value (in usd per share) | $ / shares   $ 0.0001 $ 0.0001   $ 0.0001  
Number of operating segments | segment     1      
Retained earnings (accumulated deficit)   $ 317,112,000 $ 317,112,000   $ 283,833,000  
Net cash used in operating activities     23,891,000 $ 26,313,000    
Cash and cash equivalents   25,605,000 25,605,000   $ 23,476,000  
Convertible Debt | Secured Convertible Notes            
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]            
Debt instrument, face amount $ 30,000,000 30,000,000.0 $ 30,000,000.0      
Proceeds from issuance of secured notes $ 27,600,000 $ 27,600,000        
Variable rate (as a percent) 6.50%          
Debt instrument interest rate in event of default (as a percent) 0.040          
Maximum amount outstanding allowed $ 50,000,000          
Convertible Debt | Maximum | Secured Convertible Notes            
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]            
Debt instrument, face amount $ 50,000,000          
Common Class A            
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]            
Common stock, par value (in usd per share) | $ / shares           $ 0.0001