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Debt - Summary of Long-term Notes Payable (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Unamortized debt discount and debt issuance costs	$ (5,090)	$ (5,074)
Notes payable, total	25,000	25,053
Less: current maturities	50	49
Long-term notes payable	24,950	25,004
Perceptive Term Loan Facility
Debt Instrument [Line Items]
Notes/Loan payable	30,000	30,000
Other
Debt Instrument [Line Items]
Notes/Loan payable	$ 90	$ 127

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