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Borrowings - Narrative (Details)
1 Months Ended 3 Months Ended
Apr. 28, 2023
USD ($)
Sep. 30, 2017
USD ($)
Mar. 31, 2024
USD ($)
installment
Mar. 31, 2023
USD ($)
Apr. 30, 2024
USD ($)
Dec. 31, 2023
USD ($)
2017 Term loan | Innovatus Life Sciences Lending Fund | Loan payable            
Debt Instrument [Line Items]            
Term loan borrowings   $ 25,000,000        
Remaining borrowing capacity     $ 0      
Term loan, interest rate 2.00%          
Term loan, paid in-kind, interest rate 1.50%          
Term loan, effective interest rate     11.00%      
Number of monthly installments | installment     10      
Term loan, prepayment premium percentage     1.00%      
Term loan, covenant, revenue performance period     12 months      
Debt instrument, minimum cash balance     50.00%      
Term loan, covenant, number of days to cure covenant if performance measure is not met     30 days      
Term loan covenant, minimum unrestricted cash balance     $ 2,000,000.0      
Term loan covenant, increase to interest rate     4.00%      
2017 Term loan | Innovatus Life Sciences Lending Fund | Loan payable | Prime Rate            
Debt Instrument [Line Items]            
Variable rate 8.00%          
2017 Term loan | Innovatus Life Sciences Lending Fund | Paid in-kind note            
Debt Instrument [Line Items]            
Term loan, paid in-kind loans issued     $ 100,000 $ 100,000    
Equipment Notes Payable            
Debt Instrument [Line Items]            
Term loan, effective interest rate     5.28%      
Notes payable     $ 800,000     $ 800,000
Notes payable, current     300,000      
Notes payable, noncurrent     500,000      
Equipment Notes Payable | Subsequent Event            
Debt Instrument [Line Items]            
Notes payable         $ 700,000  
Amended Loan Agreement | Innovatus Life Sciences Lending Fund | Loan payable            
Debt Instrument [Line Items]            
Loan repayment $ 10,000,000          
Term loan, fee incurred upon payment of final installment     $ 1,000,000