Borrowings - Summary of Borrowings (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Disclosure [Abstract]
Principal outstanding and final fee	$ 36,720	$ 35,700
Less: Unamortized debt issuance costs	(81)	(73)
Unaccreted value of final fee	(574)	(456)
Outstanding debt, net of debt issuance costs and unaccreted value of final fee	36,065	35,171
Long-term borrowings	$ 36,065	$ 35,171

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Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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Amount of the fee that accompanies borrowing money under the debt instrument.

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Amount, after accumulated amortization, of debt issuance costs. Includes, but is not limited to, legal, accounting, underwriting, printing, and registration costs.

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Amount, after deduction of unamortized premium (discount) and debt issuance cost, of long-term debt. Excludes lease obligation.

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