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Term Loan Obligations - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	May 29, 2015	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Interest expense		$ 395	$ 711
Non-cash amortization		$ 200	$ 400
LIBOR [Member] | Interest Rate Floor [Member]
Debt Instrument [Line Items]
Basis variable rate	1.00%
Term Loan [Member]
Debt Instrument [Line Items]
Origination date		May 29, 2015	May 29, 2015
Original loan amount	$ 17,700	$ 17,700	$ 17,700
Basis variable rate	7.95%
Maturity date	May 01, 2021	Jun. 01, 2024
Fees amount associated with loan	$ 3,200	$ 3,200
Number of shares callable by warrants (in shares)	188
Warrant exercise price (in dollars per share)	$ 5,175
Long term debt outstanding threshold amount		$ 800
Debt instrument, covenant compliance		the Company was in compliance with all of the debt covenants under the Loan and Security Agreement.
Term Loan [Member] | Minimum [Member]
Debt Instrument [Line Items]
Interest rate	8.95%
Term Loan [Member] | Maximum [Member]
Debt Instrument [Line Items]
Original loan amount		$ 3,000
Long term debt outstanding threshold amount		$ 800

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