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Stockholders' Equity - Warrants to Purchase Common Stock (Details) - $ / shares
shares in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Class of Warrant or Right [Line Items]    
Exercised warrants during period 0 0
Issued warrants during period 0 0
Warrants    
Class of Warrant or Right [Line Items]    
Common shares issuable upon exercise of outstanding warrants, beginning balance 150 150
Warrants outstanding 150 150
Common shares issuable upon exercise of outstanding warrants, ending balance 150 150
Weighted-average exercise price, beginning of period $ 7.71 $ 7.71
Weighted-average exercise price, end of period $ 7.71 $ 7.71