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Capital Stock and Warrants - Convertible preferred stock authorized and issued and outstanding (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2022
Capital Stock and Warrants        
Shares Authorized 43,405,324     43,405,324
Shares Issued and Outstanding 9,499,083      
Proceeds Net of Issuance Costs $ 34,203      
Aggregate Liquidation Preference $ 35,361     $ 37,733
Series A Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 8,936,015      
Shares Issued and Outstanding 1,413,381      
Proceeds Net of Issuance Costs $ 614      
Aggregate Liquidation Preference $ 1,267      
Series B Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 4,707,501      
Shares Issued and Outstanding 3,498,859      
Proceeds Net of Issuance Costs $ 7,098      
Aggregate Liquidation Preference $ 7,138      
Series m Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 6,666,666      
Shares Issued and Outstanding 1,779,653      
Proceeds Net of Issuance Costs $ 4,621   $ 18,200  
Aggregate Liquidation Preference $ 5,339      
Series m-1 Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 333,334      
Series m-2 Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 1,660,756      
Shares Issued and Outstanding 160,000      
Proceeds Net of Issuance Costs $ 480      
Aggregate Liquidation Preference $ 480      
Series m-3 Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 3,490,658      
Proceeds Net of Issuance Costs   $ 1,400 $ 3,600  
Series m-4 Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 4,502,061      
Series S Preferred Stock        
Capital Stock and Warrants        
Shares Authorized 13,108,333      
Shares Issued and Outstanding 2,642,190      
Proceeds Net of Issuance Costs $ 21,390      
Aggregate Liquidation Preference $ 21,137