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Debt - Schedule of Principal Payments (Details) - USD ($)
$ in Thousands
Sep. 30, 2024
Dec. 31, 2023
Debt Disclosure [Abstract]    
December 31, 2024 $ 0  
December 31, 2025 6,572  
December 31, 2026 14,166  
December 31, 2027 10,687  
Future principal payments and end of term charge $ 31,425 $ 31,425