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Fair Value of Financial Assets and Liabilities - Schedule of Aggregate Fair Values of the Warrant Liability (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |
Fair value, Beginning Balance | $ 3,598 | $ 25,962
May 2022 PIPE warrant issuance |  | 19,745
April 2023 Registered Direct warrant issuance | 4,280 |
July 2023 Registered Direct warrant issuance | 2,645 |
Gain recognized in earnings from change in fair value | (6,164) | (42,109)
Fair Value, Ending Balance | $ 4,359 | $ 3,598

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