Stock-based Compensation - Additional Information (Details) - USD ($)	3 Months Ended	12 Months Ended
Mar. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares to be issued (in shares)	163,025	68,422
Stock option contractual term	10 years	10 years
Stock option vesting percentage	25.00%	25.00%
Stock options exercised		$ 0	$ 0
Dividend yield assumed		0
Total unamortized compensation cost related to outstanding unvested stock options and restricted stock awards	$ 800,000	$ 700,000
Weighted average period for recognition of cost	2 years 3 months 18 days	1 year 9 months 18 days
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting period	2 years	2 years
Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting period	4 years	4 years
2015 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Securities remaining and available for future issuances (in shares)	6,024	6,024
2020 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Securities remaining and available for future issuances (in shares)	17,582	180,607
Common stock shares to be issued (in shares)	236,667	3,550,000

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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