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Debt - Schedule of Long-term and Short-term Debt (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Debt Instrument [Line Items]
Principal payments due	$ 35,000	$ 35,000
Less: debt discount related to warrant liability and issuance costs	(1,303)	(1,073)
Total amounts outstanding	33,697	33,927
Less: current portion	0	(2,219)
Total accrued and other current liabilities	33,697	31,708
Hercules Credit Agreement [Member]
Debt Instrument [Line Items]
Principal payments due	35,000	0
MidCap Term Loan [Member]
Debt Instrument [Line Items]
Principal payments due	$ 0	$ 35,000

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