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Fair Value Measurement - Changes in the fair value of Company's Level 3 warrant and derivative liability (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Warrant Liabilities |  |
Changes in the fair value of Company's Level 3 financial liabilities |  |
Beginning Balance | $ 11,157 | $ 30,566
Initial fair value of Class A Common Stock warrants |  | 1,818
Exercise of warrants |  | (370)
Revaluation of Class A Common Stock, Series B, m-3 and s Preferred Stock warrants | (3,727) | (20,857)
Warrant cancellations | (308) |
Revaluation of Common Stock warrants | (875) |
Ending Balance | 6,247 | $ 11,157
Convertible Note Liabilities | Level 3 |  |
Changes in the fair value of Company's Level 3 financial liabilities |  |
Initial fair value of Class A Common Stock warrants | $ 8,152 |

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