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Stock Options, Restricted Stock and Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]    
Number Of Stock Options, Shares Outstanding 5,666,621  
Number Of Stock Options, Shares, Granted 67,500  
Number Of Stock Options, Shares, Exercised (146,964)  
Number Of Stock Options, Shares, Cancelled or forfeited or expired (474,484)  
Number Of Stock Options, Shares Outstanding 5,112,673 5,666,621
Exercisable as of March 31, 2024 3,500,102  
Unvested as of March 31, 2024 1,612,571  
Weighted-Average Exercise Price, Outstanding $ 2.47  
Weighted-Average Exercise Price, Granted 1.59  
Weighted-Average Exercise Price, Exercised 1.54  
Weighted-Average Exercise Price, Cancelled or forfeited or expired 3.42  
Weighted-Average Exercise Price, Outstanding 2.4 $ 2.47
Exercisable as of March 31, 2024 2.41  
Unvested as of March 31, 2024 $ 2.37  
Weighted- Average Remaining Contractual Term (In Years), Outstanding 6 years 7 months 28 days 6 years 7 months 9 days
Exercisable as of March 31, 2024 5 years 9 months 18 days  
Unvested as of March 31, 2024 8 years 6 months 10 days  
Aggregate Intrinsic Value, Outstanding $ 378  
Exercisable as of March 31, 2024 133  
Unvested as of March 31, 2024 $ 245