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Stockholder's Equity - Additional Information (Details)
$ / shares in Units, Vote in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2024
USD ($)
Vote
$ / shares
shares
Dec. 31, 2023
$ / shares
shares
Subsidiary, Sale of Stock [Line Items]    
Common stock, shares authorized 200,000,000 200,000,000
Preferred stock, shares authorized 10,000,000 10,000,000
Common stock, par value | $ / shares $ 0.001 $ 0.001
Preferred stock par value | $ / shares $ 0.001 $ 0.001
Dividends declared | $ $ 0  
Additional warrants to purchase common stock 2.00%  
Number of votes entitled per share of common stock | Vote 1  
Fair value of warrants | $ $ 600  
Warrant outstanding 100,000  
Common stock, shares issued 49,565,200 49,131,363
Hercules Credit Agreement [Member]    
Subsidiary, Sale of Stock [Line Items]    
Warrants to purchase common stock 135,686  
Class of warrant exercise price | $ / shares $ 5.159  
IPO    
Subsidiary, Sale of Stock [Line Items]    
Common stock, shares authorized 200,000,000  
Preferred stock, shares authorized 10,000,000  
Common stock, par value | $ / shares $ 0.001  
Preferred stock par value | $ / shares $ 0.001