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Common Stock and Preferred Stock (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 11, 2024
USD ($)
$ / shares
shares
Jul. 01, 2022
USD ($)
Aug. 09, 2019
$ / shares
shares
Mar. 31, 2024
USD ($)
$ / shares
shares
Mar. 31, 2023
USD ($)
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Common Stock and Preferred Stock (Details) [Line Items]            
At Market Issuance Sales Agreement, Offering, Maximum   $ 75,000        
Additional Securities Available   $ 150,000        
Temporary Equity, Shares Issued (in Shares) | shares     200,000   200,000
Temporary Equity, Par or Stated Value Per Share (in Dollars per share) | $ / shares     $ 0.001 $ 0.001   $ 0.001
Payments for Repurchase of Redeemable Preferred Stock $ 20,000     $ 20,000 $ 0  
Stock Issued During Period, Shares, New Issues (in Shares) | shares 571,295          
Stock Issued During Period, Value, New Issues $ 15,000     1    
Shares Issued, Price Per Share (in Dollars per share) | $ / shares $ 26.26          
Derivative Liability       $ 0   $ 29,947
Temporary Equity, Redemption Price Per Share (in Dollars per share) | $ / shares $ 100          
Temporary Equity, Quarterly Dividend Rate       6.00%    
Mandatorily Redeemable Preferred Stock, Fair Value Disclosure           26,000
Preferred Stock, Liquidation Preference, Value           39,000
Minimum [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Temporary Equity, Liquidation Preference Percent Of Accreted Amount     20.00%      
Maximum [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Temporary Equity, Liquidation Preference Percent Of Accreted Amount     150.00%      
Series A Preferred Stock [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Dividends Payable, Current           6,000
Redeemable Preferred Stock [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Dividends       $ 400 $ 1,100  
Dividends Payable           6,000
Redeemable Preferred Stock [Member] | Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value           $ 29,900
Executive Officer [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Number Of Executive Officers       3 3  
Restricted Stock [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Restricted Stock Award, Forfeitures       $ 200 $ 600  
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Forfeitures (in Shares) | shares       13,714 34,588  
Restricted Stock [Member] | Executive Officer [Member]            
Common Stock and Preferred Stock (Details) [Line Items]            
Stock Issued During Period, Shares, Restricted Stock Award, Forfeited (in Shares) | shares       147,612 157,019  
Restricted Stock Award, Forfeitures       $ 5,100 $ 3,100