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v3.24.0.1

Debt - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
Jan. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022
Debt Instrument [Line Items] |  |  |
Long-term debt, net of current portion |  | $ 31,708 | $ 33,313
MidCap Credit Facility Agreements [Member] |  |  |
Debt Instrument [Line Items] |  |  |
Long-term debt, net of current portion |  | $ 35,000 |
Long-Term Debt, Fixed Percentage Rate |  | 6.00% |
Mid Cap Financial Services |  |  |
Debt Instrument [Line Items] |  |  |
Maximum borrowing capacity |  | $ 40,000 |
Interest expense, debt |  | $ 1,500 | $ 1,200
Mid Cap Financial Services | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate [Member] |  |  |
Debt Instrument [Line Items] |  |  |
Debt instrument, variable rate |  | 7.00% |
Mid Cap Financial Services | Senior Secured Two Thousand Nineteen Term Loan |  |  |
Debt Instrument [Line Items] |  |  |
Maximum borrowing capacity |  | $ 35,000 |
Mid Cap Financial Services | Revolving Credit Facility Two Thousand Nineteen |  |  |
Debt Instrument [Line Items] |  |  |
Maximum borrowing capacity |  | $ 5,000 |
Subsequent Event [Member] | Hercules Credit Agreement [Member] | MidCap Credit Facility Agreements [Member] |  |  |
Debt Instrument [Line Items] |  |  |
Maximum borrowing capacity | $ 65,000 |  |
Debt instrument, variable rate | 10.35% |  |
Debt instrument, frequency of periodic payment | 30 months |  |
Debt instrument interest payment extended term | 36 months |  |
Debt instrument, effective interest rate | 2.35% |  |
Interest Rate During Period | 5.95% |  |
Line Of Credit Facility Utilized to Pay | $ 35,000 |  |
Debt instrument, Initial interest rate | 10.85% |  |
Maturity Date | Jul. 01, 2028 |  |
Subsequent Event [Member] | Lenders [Member] | Hercules Credit Agreement [Member] | MidCap Credit Facility Agreements [Member] |  |  |
Debt Instrument [Line Items] |  |  |
Issue of warrants to purchase common stock | 135,686 |  |
Class of warrant, exercise price | $ 5.159 |  |
Warrants expiration term | 7 years |  |

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