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Income Taxes - Reconciliation between the effective tax rate on income from continuing operations (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Reconciliation between the effective tax rate on income from continuing operations    
Provision at statutory rate 21.00% 21.00%
Stock-based compensation (2.00%) (1.90%)
Convertible notes (0.40%) (7.50%)
Fair value adjustment 4.70% 13.10%
Change in valuation allowance (24.60%) (26.30%)
Research and development credits 1.60% 1.60%
Other (0.30%)  
Effective tax rate 0.00% 0.00%