Annual report pursuant to Section 13 and 15(d)

Fair Value Measurement - Summary of Warrants Classified as Equity That Are Measured at Fair Value on Nonrecurring Basis (Details)

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Fair Value Measurement - Summary of Warrants Classified as Equity That Are Measured at Fair Value on Nonrecurring Basis (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Equity:    
Cash and cash equivalents at carrying value $ 29,144  
Investments    
Equity:    
Cash and cash equivalents at carrying value 11,725 $ 23,116
Cash and Cash Equivalents, Fair Value Disclosure 11,726 23,084
Marketable Securities, Unrealized Gains 2 0
Marketable Securities, Unrealized Losses 1 32
U.S. government and agency securities | Investments    
Equity:    
Debt Securities, Available-for-Sale, Amortized Cost, Total 1,492 11,272
Marketable Securities, Unrealized Gains 0 0
Marketable Securities, Unrealized Losses 1 3
Debt Securities, Available-for-Sale 1,491 11,269
Cash and Cash Equivalents [Member]    
Equity:    
Cash and cash equivalents at carrying value 29,144 47,197
Cash and Cash Equivalents, Fair Value Disclosure 29,144 47,196
Marketable Securities, Unrealized Gains 0 0
Marketable Securities, Unrealized Losses 0 1
U.S. treasury bills and bonds | Investments    
Equity:    
Cash and cash equivalents at carrying value 8,838 1,495
Cash and Cash Equivalents, Fair Value Disclosure 8,840 1,494
Marketable Securities, Unrealized Gains 2 0
Marketable Securities, Unrealized Losses 0 1
Commercial Paper | Investments    
Equity:    
Debt Securities, Available-for-Sale, Amortized Cost, Total 1,395 2,578
Marketable Securities, Unrealized Gains 0 0
Marketable Securities, Unrealized Losses 0 2
Debt Securities, Available-for-Sale 1,395 2,576
Commercial Paper | Cash and Cash Equivalents [Member]    
Equity:    
Cash and cash equivalents at carrying value   2,098
Cash and Cash Equivalents, Fair Value Disclosure   2,097
Marketable Securities, Unrealized Gains   0
Marketable Securities, Unrealized Losses   1
Corporate Securities | Investments    
Equity:    
Debt Securities, Available-for-Sale, Amortized Cost, Total   7,771
Marketable Securities, Unrealized Gains   0
Marketable Securities, Unrealized Losses   26
Debt Securities, Available-for-Sale   7,745
Cash [Member] | Cash and Cash Equivalents [Member]    
Equity:    
Cash and cash equivalents at carrying value 19,030 39,919
Cash and Cash Equivalents, Fair Value Disclosure 19,030 39,919
Marketable Securities, Unrealized Gains 0 0
Marketable Securities, Unrealized Losses 0 0
Money Market Funds | Cash and Cash Equivalents [Member]    
Equity:    
Cash and cash equivalents at carrying value 10,114 5,180
Cash and Cash Equivalents, Fair Value Disclosure 10,114 5,180
Marketable Securities, Unrealized Gains 0 0
Marketable Securities, Unrealized Losses $ 0 $ 0