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Debt - Schedule of Long-term and Short-term Debt (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Principal payments due	$ 35,000	$ 35,000
Less: debt discount related to warrant liability and issuance costs	(1,073)	(1,687)
Total amounts outstanding	33,927	33,313
Less: Current portion, net of discount	2,219	0
Long-term debt	31,708	33,313
MidCap Term Loan [Member]
Debt Instrument [Line Items]
Principal payments due	$ 35,000	$ 35,000

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