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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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