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Warrants (Additional Information) (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
May 31, 2023
Class of Warrant or Right [Line Items]      
Exercisable Aggregate of Common Stock Warrant 18,345,488 17,903,437  
Warrant liability $ 52,454 $ 36,801  
2023 Warrant      
Class of Warrant or Right [Line Items]      
Warrant Exercise price $ 3.57    
Warrants term 10 years    
Warrants issued to purchase common stock     1,636,313
2022 Warrant      
Class of Warrant or Right [Line Items]      
Percentage of oustanding common shares 5.00%    
Warrant Exercise price $ 0.01    
Warrants term 10 years    
Exercisable Aggregate of Common Stock Warrant 1,879,215 1,894,047  
2021 Warrant      
Class of Warrant or Right [Line Items]      
Percentage of oustanding common shares 5.00%    
Warrant Exercise price $ 0.01    
Warrants term 10 years    
Exercisable Aggregate of Common Stock Warrant 1,879,215 1,894,047  
2020 Warrant      
Class of Warrant or Right [Line Items]      
Percentage of oustanding common shares 23.00%    
Warrant Exercise price $ 0.01    
Warrants term 10 years    
Exercisable Aggregate of Common Stock Warrant 8,644,388 8,712,618