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Restatement of Previously Issued Consolidated Financial Statements - Corrected Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2023
Sep. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Error Corrections and Prior Period Adjustments Restatement [Line Items]              
Change in fair value of warrant liabilities and fair value of financial instruments issued in excess of proceeds $ 443 $ (56,181)   $ (56,181) $ (55,738) $ (76,211)  
Net loss and comprehensive loss $ (9,906) $ (65,760) $ (10,772) $ (76,532) $ (86,438) $ (116,537) $ (87,966)
Net loss per share, basic $ (0.33) $ (2.74)   $ (3.99) $ (3.79) $ (4.73) $ (6.16)
Net loss per share, diluted $ (0.33) $ (2.74)   $ (3.99) $ (3.79) $ (4.73) $ (6.16)
As Previously Reported [Member]              
Error Corrections and Prior Period Adjustments Restatement [Line Items]              
Net loss and comprehensive loss $ (10,349) $ (9,579) $ (10,772) $ (20,351) $ (30,700) $ (40,326)  
Net loss per share, basic $ (0.35) $ (0.4)   $ (1.06) $ (1.35) $ (1.64)  
Net loss per share, diluted $ (0.35) $ (0.4)   $ (1.06) $ (1.35) $ (1.64)  
Restatement Impact [Member]              
Error Corrections and Prior Period Adjustments Restatement [Line Items]              
Change in fair value of warrant liabilities and fair value of financial instruments issued in excess of proceeds $ 443 $ (56,181)   $ (56,181) $ (55,738) $ (76,211)  
Net loss and comprehensive loss $ 443 $ (56,181)   $ (56,181) $ (55,738) $ (76,211)  
Net loss per share, basic $ 0.02 $ (2.34)   $ (2.93) $ (2.44) $ (3.09)  
Net loss per share, diluted $ 0.02 $ (2.34)   $ (2.93) $ (2.44) $ (3.09)