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Capital Stock and Warrants (Details) | Dec. 31, 2023 class $ / shares shares | Dec. 31, 2022 $ / shares shares | Jun. 30, 2019 $ / shares | Dec. 31, 2018 $ / shares | Jan. 31, 2018 $ / shares | Dec. 31, 2017 $ / shares
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Capital Stock and Warrants |  |  |  |  |  |
Number of classes | class | 3 |  |  |  |  |
Total shares authorized | 187,405,324 |  |  |  |  |
Preferred stock, shares authorized | 43,405,324 | 43,405,324 |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares | $ 0.001 | $ 0.001 | $ 0.001 |  |  |
Class A Common Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Common stock, par value (in dollars per share) | $ / shares | $ 0.001 | $ 0.001 |  |  |  |
Common stock, shares authorized | 114,000,000 | 114,000,000 |  |  |  |
Class B Common Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Common stock, par value (in dollars per share) | $ / shares | $ 0.001 | $ 0.001 |  |  |  |
Common stock, shares authorized | 30,000,000 | 30,000,000 |  |  |  |
Series A Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 8,936,015 |  |  |  |  |
Series B Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 4,707,501 |  |  |  |  |
Series m Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 6,666,666 |  |  |  |  |
Series m-1 Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 333,334 |  |  |  |  |
Series m-2 Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 1,660,756 |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  |  |  | $ 0.001 |
Series m-3 Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 3,490,658 |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  |  | $ 0.001 |  | $ 0.001
Series S Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 13,108,333 |  |  |  |  |
Series m-4 Preferred Stock |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |
Preferred stock, shares authorized | 4,502,061 |  |  |  |  |

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