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Fair Value Measurements (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Fair Value Measurement Inputs and Valuation Techniques [Line Items] |  |
Total borrowings, net of discounts and debt issuance costs | $ 19,495 |
Recurring |  |
Assets: |  |
Total |  | $ 59,538
Recurring | Money market funds, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure | 14,386 | 29,438
Recurring | Certificate of deposit, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure |  | 30,100
Recurring | Level 1 |  |
Assets: |  |
Total |  | 59,538
Recurring | Level 1 | Money market funds, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure | 14,386 | 29,438
Recurring | Level 1 | Certificate of deposit, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure |  | 30,100
Recurring | Level 2 |  |
Assets: |  |
Total |  | 0
Recurring | Level 2 | Money market funds, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure | 0 | 0
Recurring | Level 2 | Certificate of deposit, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure |  | 0
Recurring | Level 3 |  |
Assets: |  |
Total |  | 0
Recurring | Level 3 | Money market funds, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure | 0 | 0
Recurring | Level 3 | Certificate of deposit, included in cash and cash equivalents |  |
Assets: |  |
Cash and cash equivalents, fair value disclosure |  | 0
Amended Loan Agreement | Recurring | Level 2 |  |
Fair Value Measurement Inputs and Valuation Techniques [Line Items] |  |
Total borrowings, net of discounts and debt issuance costs | 18,700 |
Debt instrument, fair value | $ 19,700 |
2017 Term Loan | Recurring | Level 2 |  |
Fair Value Measurement Inputs and Valuation Techniques [Line Items] |  |
Total borrowings, net of discounts and debt issuance costs |  | 28,300
Debt instrument, fair value |  | 26,900
Debt Other Than Amended Loan Agreement | Recurring | Level 2 |  |
Fair Value Measurement Inputs and Valuation Techniques [Line Items] |  |
Total borrowings, net of discounts and debt issuance costs |  | $ 800

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