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Stockholders' Equity - Common Stock Warrants (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 12 Months Ended
Jun. 23, 2023
Jan. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 16, 2021
Class of Stock [Line Items]            
Proceeds from exercise of common stock warrants     $ 0 $ 14    
Number of shares called by warrants (in shares)     50,110   576,261  
Exercise price (in dollars per share)     $ 8.031   $ 8.1031  
Payment for warrant liability $ 800          
Warrants settled (in shares) 526,151          
Pre-Funded Warrants            
Class of Stock [Line Items]            
Proceeds from exercise of common stock warrants   $ 14        
Shares issued for exercise of warrants (in shares)   466,666        
Exercise price (in dollars per share)           $ 0.030