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Redeemable Preferred Stock - Convertible Preferred Stock Series B Activity (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]      
Series Preferred Stock $ 42,304 $ 21,503 $ 8,745
Series B Preferred Stock      
Class of Stock [Line Items]      
Series Preferred Stock $ 4,233 $ 4,233 $ 4,747