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Fair Value Measurements - Fair Value of Preferred Stock Derivative (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value $ 16,556 $ 2,959 $ 8,224
Fair Value, Inputs, Level 1 [Member] | Derivative liability - other non-current liabilities      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Derivative liability 15,421 2,831  
Fair Value, Inputs, Level 2 [Member] | Derivative liability - other non-current liabilities      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Derivative liability 0 0  
Fair Value, Inputs, Level 3 [Member] | Derivative liability - other non-current liabilities      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Derivative liability $ 1,135 $ 128