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Fair Value Measurement - Changes in the fair value of Company's Level 3 warrant and derivative liability (Details) - Level 3 - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Warrant    
Changes in the fair value of Company's Level 3 financial liabilities    
Beginning Balance $ 11,157 $ 30,566
Warrants exercised 0 (370)
Warrants cancelled (308) 0
Revaluation of Series m-3 and S Preferred Stock warrants (2,951) (18,190)
Revaluation of Common Stock warrants (derivative liability) (756) 0
Ending Balance 7,142 $ 12,006
Convertible Note Liabilities    
Changes in the fair value of Company's Level 3 financial liabilities    
Beginning Balance 8,152  
Notes converted (8,592)  
Interest accretion $ 440