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Stock Option Plan - Stock Option Activity (Details) - Stock options - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Number of Options      
Outstanding, beginning of period (in shares) 986,819    
Granted (in shares) 0 0  
Exercised (in shares) (326)    
Forfeited (in shares) (4,845)    
Expired (in shares) (52,748)    
Outstanding, end of period (in shares) 928,900   986,819
Vested and expected to vest, end of period (in shares) 928,900    
Options exercisable, end of period (in shares) 841,410    
Weighted- Average Exercise Price      
Outstanding, beginning of period (in dollars per share) $ 11.87    
Granted (in dollars per share) 0    
Exercised (in dollars per share) 0.26    
Forfeited (in dollars per share) 17.30    
Expired (in dollars per share) 12.30    
Outstanding, end of period (in dollars per share) 11.83   $ 11.87
Vested and expected to vest, end of period (in shares), Weighted Average Exercise Price (in dollars per share) 11.83    
Options exercised, end of period (in shares), Weighted Average Exercise Price (in dollars per share) $ 12.51    
Stock Options, Additional Disclosures [Abstract]      
Outstanding, Weighted Average Remaining Contractual Term 6 years 2 months 8 days   6 years 5 months 8 days
Vested and expected to vest, Weighted Average Remaining Contractual Term 6 years 2 months 8 days    
Options exercisable, Weighted Average Remaining Contractual Term 5 years 11 months 4 days    
Outstanding, Aggregate Intrinsic Value $ 175   $ 228
Vested and expected to vest, Aggregate Intrinsic Value 175    
Options exercisable, Aggregate Intrinsic Value $ 175