Fair Value Measurements - Change in fair value of liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Earnout Liability
Changes in Fair Value of Liabilities [Roll Forward]
Fair value as of beginning period	$ 1,730	$ 5,211
Change in fair value of liability	(1,076)	(3,481)
Fair value as of ending period	654	1,730
Private Placement Warrant Liability
Changes in Fair Value of Liabilities [Roll Forward]
Fair value as of beginning period		8,847
Change in fair value of liability	(1,563)	(4,912)
Transfer into Level 3	4,423
Transfers out of Level 3	(1,964)	$ (3,935)
Fair value as of ending period	$ 896