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Debt - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Jan. 31, 2024 | Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023 | Jan. 22, 2024
Debt Instrument [Line Items] |  |  |  |  |
Gain (Loss) on Extinguishment of Debt |  | $ (1,962) | $ 0 |  |
Long-term Debt |  | 35,000 |  |  |
Fair value of warrants |  | 600 |  |  |
Long-term debt |  | 33,697 |  | $ 31,708 |
Hercules Credit Agreement [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity | $ 65,000 |  |  |  |
Line of credit achievement of certain performance milestones | 10,000 |  |  |  |
Line of Credit Facility, Remaining Borrowing Capacity | $ 15,000 |  |  |  |
Maturity date | Jul. 01, 2028 |  |  |  |
Interest in increments period | $ 5,000 |  |  |  |
Debt instrument, frequency of periodic payment | 30 months |  |  |  |
Debt instrument interest payment extended term | 36 months |  |  |  |
Debt instrument, variable rate | 10.35% |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage | 10.85% |  |  |  |
Interest Rate During Period | 5.95% |  |  |  |
Debt instrument, effective interest rate | 2.35% |  |  |  |
Interest expense, debt |  | $ 100 |  |  |
Warrants issued to purchase shares of convertible preferred stock |  | 135,686 |  |  |
Class of warrant exercise price |  | $ 5.159 |  |  |
Line of credit facility, current borrowing capacity |  |  |  |  | $ 35,000
Hercules Credit Agreement [Member] | Tranche Two Loans |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity | $ 5,000 |  |  |  |
Mid Cap Financial Services |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Gain (Loss) on Extinguishment of Debt |  | $ 2,000 |  |  |
Interest expense, debt |  |  |  | $ 1,500 |
Mid Cap Financial Services | SOFR [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt instrument, variable rate |  | 7.00% |  |  |
Mid Cap Financial Services | Senior Secured 2019 Term Loan |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  | $ 35,000 |  |  |
Lenders [Member] | Hercules Credit Agreement [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Warrants Expiration Term | 7 years |  |  |  |
Warrants issued to purchase shares of convertible preferred stock | 135,686 |  |  |  |
Class of warrant exercise price | $ 5.159 |  |  |  |
MidCap Credit Facility Agreements [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Long-term debt |  | $ 35,000 |  |  |
Percentage of long term debt fee payable |  | 6.00% |  |  |

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