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Equity Incentive Plans - Stock option activity (Details) - Employee Stock Option [Member] - $ / shares
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Shares    
Outstanding as at beginning of period (in shares) 2,574,299  
Options granted (in shares) 1,097,500  
Options exercised (in shares) (15,983)  
Options cancelled/forfeited (in shares) (125,000)  
Options outstanding as at end of period (in shares) 3,530,816  
Weighted Average Exercise Price    
Weighted Average Exercise Price Per Share, Outstanding as at beginning of period $ 4.52  
Weighted Average Exercise Price Per Share, Options granted 4.31  
Weighted Average Exercise Price Per Share, Options exercised 3.61  
Weighted Average Exercise Price Per Share, Options cancelled/forfeited 4.77  
Weighted Average Exercise Price Per Share, Options outstanding as at end of period 4.45  
Weighted Average Grant Date Fair Value    
Weighted Average Fair Value Per Share, options outstanding at beginning of period 3.06  
Weighted Average Fair Value Per Share, options granted 2.74 $ 3.46
Weighted Average Fair Value Per Share, options exercised 2.62  
Weighted Average Fair Value Per Share, options cancelled/forfeited 3.47  
Weighted Average Fair Value Per Share, options outstanding at end of period $ 2.95