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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
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