Annual report pursuant to Section 13 and 15(d)

Fair Value Measurement - Summary of Assets and Liabilities Measured at Fair Value on Recurring Basis (Details)

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Fair Value Measurement - Summary of Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Investments | U.S. government and agency securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale $ 1,491 $ 11,269
Investments | Corporate Securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale   7,745
Investments | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 1,395 2,576
Fair Value, Recurring    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 10,114 7,277
Fair Value, Recurring | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 6,208 2,180
Fair Value, Recurring | Public Warrants | Current Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities   267
Fair Value, Recurring | Credit Agreement Warrants | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 5,988 1,831
Fair Value, Recurring | Contingent Earnout Liability | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 220 349
Fair Value, Recurring | Money Market Funds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 10,114 5,180
Fair Value, Recurring | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure   2,097
Fair Value, Recurring | Investments    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 11,726 23,084
Fair Value, Recurring | Investments | U.S. government and agency securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 1,491 11,269
Fair Value, Recurring | Investments | U.S. treasury bills and bonds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 8,840 1,494
Fair Value, Recurring | Investments | Corporate Securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale   7,745
Fair Value, Recurring | Investments | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 1,395 2,576
Fair Value, Recurring | Fair Value, Inputs, Level 1    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 10,114 5,180
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Public Warrants | Current Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities   267
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Credit Agreement Warrants | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Contingent Earnout Liability | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Money Market Funds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 10,114 5,180
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure   0
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Investments    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 8,840 1,494
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Investments | U.S. government and agency securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Investments | U.S. treasury bills and bonds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 8,840 1,494
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Investments | Corporate Securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale   0
Fair Value, Recurring | Fair Value, Inputs, Level 1 | Investments | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 2    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 0 2,097
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 5,988 1,831
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Public Warrants | Current Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities   0
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Credit Agreement Warrants | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 5,988 1,831
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Contingent Earnout Liability | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Money Market Funds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure   2,097
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Investments    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 2,886 21,590
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Investments | U.S. government and agency securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 1,491 11,269
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Investments | U.S. treasury bills and bonds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Investments | Corporate Securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale   7,745
Fair Value, Recurring | Fair Value, Inputs, Level 2 | Investments | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 1,395 2,576
Fair Value, Recurring | Fair Value, Inputs, Level 3    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 220 349
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Public Warrants | Current Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities   0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Credit Agreement Warrants | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Contingent Earnout Liability | Long-term Liabilities [Member]    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Long-term liabilities 220 349
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Money Market Funds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Other Assets, Fair Value Disclosure   0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Investments    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Investments | U.S. government and agency securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Investments | U.S. treasury bills and bonds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale 0 0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Investments | Corporate Securities    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale   0
Fair Value, Recurring | Fair Value, Inputs, Level 3 | Investments | Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Debt Securities, Available-for-Sale $ 0 $ 0