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Stockholders' Equity - Schedule Shares Sold under the ATM Sale Agreement (Details) - Sale Agreement [Member] - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Class of Stock [Line Items]        
Net proceeds (in millions) $ 4.9 $ 0.6 $ 17.7 $ 7.1
Number of shares 3,799,814 52,620 6,735,839 317,155
Weighted average purchase price $ 1.37 $ 10.93 $ 3.66 $ 30.27