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Fair Value Measurements - Fair Value of Preferred Stock Derivative (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
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Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value | $ 2,959 | $ 8,224 | $ 3,117
Quoted Prices in Active Markets for Identical Assets (Level 1) | Derivative liability - other non-current liabilities |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Derivative liability | 2,831 | 7,771 |
Significant Other Observable Inputs (Level 2) | Derivative liability - other non-current liabilities |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Derivative liability | 0 | 0 |
Significant Unobservable Inputs (Level 3) | Derivative liability - other non-current liabilities |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Derivative liability | $ 128 | $ 453 |

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