How do I know if my marriage can be fixed or if its too late?

Throughout my marriage were multiple times my husband was mentally abusive and made threats of killing me, there also a few times it got physical and multiple times of forced sex during our years 2gether as well as he cheated on the phone not in person, most of this was due 2 him bein off meds, I eventually had him committed and left him for someone else, we recently got back in contact and he says he's gettin help was diagnosed with paranoid schizophrenia and bipolor but on meds now and workin on gettin the dose right he says he still loves me regrets all tht he did and has nightmares bout it everyday, is he bein sincere did he really change can we work past the trauma or is it 2 late 4 us?

How do I know if my marriage can be fixed or if its too late?
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