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Debt - Schedule of Long-term and Short-term Debt (Details) - USD ($)
$ in Thousands
Jun. 30, 2024
Dec. 31, 2023
Debt Instrument [Line Items]    
Total principal payments due $ 35,000 $ 35,000
Less: debt discount related to warrant liability and issuance costs (1,230) (1,073)
Total amounts outstanding 33,770 33,927
Less: current portion 0 (2,219)
Long-term debt, net 33,770 31,708
Hercules Credit Agreement [Member]    
Debt Instrument [Line Items]    
Total principal payments due 35,000 0
MidCap Term Loan [Member]    
Debt Instrument [Line Items]    
Total principal payments due $ 0 $ 35,000