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Debt (Details) - USD ($) $ in Thousands |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
May 05, 2020 | Apr. 24, 2020 | May 31, 2023 | Jul. 31, 2022 | Jan. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Government Assistance, CARES Act |  |  |  |  |  |  |  |
Debt Instrument, Redemption [Line Items] |  |  |  |  |  |  |  |
Proceeds from government funding |  |  | $ 205 | $ 494 | $ 1,200 | $ 205 | $ 1,700 |
Small Business Administration (SBA), CARES Act, Paycheck Protection Program |  |  |  |  |  |  |  |
Debt Instrument, Redemption [Line Items] |  |  |  |  |  |  |  |
Proceeds from issuance of unsecured debt | $ 535 | $ 3,100 |  |  |  |  |  |
Term (in years) | 2 years |  |  |  |  |  |  |
Stated interest rate | 1.00% |  |  |  |  |  |  |
Debt instrument, periodic loan and interest payment |  |  |  |  |  |  |  | $ 111

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