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Commitments and Contingencies - Narrative (Details) - USD ($)
 1 Months Ended 3 Months Ended
Aug. 31, 2022
May 31, 2018
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Jun. 30, 2021
May 31, 2019
Aug. 31, 2011
Loss Contingencies [Line Items]                
Renewal term 5 years              
Operating lease cost     $ 700,000 $ 700,000        
Operating lease term     6 years 3 months 18 days          
Operating lease percent     8.50%          
Operating lease, payments     $ 700,000 $ 700,000        
Purchase obligation, to be paid in the next twelve months $ 2,400,000              
Percentage increase in purchase commitment 10.00%              
Purchase commitment, period 12 months              
Accrual for contingent liabilities     0   $ 0      
Pending Litigation                
Loss Contingencies [Line Items]                
Accrual for contingent liabilities     $ 0   $ 0      
Lease Facility                
Loss Contingencies [Line Items]                
Face amount           $ 200,000 $ 700,000 $ 900,000
Minimum                
Loss Contingencies [Line Items]                
Annual rental payments   $ 2,800,000            
Maximum                
Loss Contingencies [Line Items]                
Annual rental payments   $ 3,300,000