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Stock Option Plan - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Options    
Outstanding, beginning balance (in shares) 1,421,235  
Granted (in shares) 73,500  
Exercised (in shares) (93,335)  
Forfeited (in shares) (43,895)  
Expired (in shares) (370,686)  
Outstanding, ending balance (in shares) 986,819 1,421,235
Vested and expected to vest (in shares) 986,819  
Options exercisable (in Shares) 877,937  
Weighted- Average Exercise Price    
Outstanding, beginning balance (in dollars per share) $ 12.94  
Granted (in dollars per share) 3.04  
Exercised (in dollars per share) 0.26  
Forfeited (in dollars per share) 13.83  
Expired (in dollars per share) 16.88  
Outstanding, ending balance (in dollars per share) 11.87 $ 12.94
Vested and expected to vest (in dollars per share) 11.87  
Options exercisable (in dollars per share) $ 12.46  
Weighted-Average Remaining Contractual Term (Years) and Aggregate Instrinsic Value    
Outstanding, Weighted Average Remaining Contractual Term 6 years 5 months 8 days 7 years 1 month 2 days
Vested and expected to vest, Weighted Average Remaining Contractual Term 6 years 5 months 8 days  
Options exercisable, Weighted Average Remaining Contractual Term 6 years 2 months 4 days  
Outstanding, Aggregate Intrinsic Value $ 228 $ 483
Vested and expected to vest, Aggregate Intrinsic Value 228  
Options exercisable, Aggregate Intrinsic Value $ 228