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Commitments and Contingencies - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Loss Contingencies [Line Items] |  |  |
Weighted-average incremental borrowing rate | 8.12% | 7.93% |
Lease expense | $ 103 | $ 92 | $ 81
Minimum |  |  |
Loss Contingencies [Line Items] |  |  |
Weighted-average incremental borrowing rate | 4.22% |  |
Maximum |  |  |
Loss Contingencies [Line Items] |  |  |
Weighted-average incremental borrowing rate | 8.72% |  |

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