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Debt - Summary of Long-term Notes Payable (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Debt Instrument [Line Items]    
Unamortized debt discount and debt issuance costs $ (4,802) $ (5,074)
Notes payable, total 35,276 25,053
Less: current maturities 51 49
Long-term notes payable 35,225 25,004
Perceptive Term Loan Facility    
Debt Instrument [Line Items]    
Notes/Loan payable 40,000 30,000
Other    
Debt Instrument [Line Items]    
Notes/Loan payable $ 78 $ 127