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Equity Incentive Plans - RSUs activity (Details) - RSUs and PRSUs
 3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning balance | shares 493,799
RSUs granted | shares 25,000
RSUs vested | shares (31,125)
RSUs cancelled/forfeited | shares (118,764)
Ending balance | shares 368,910
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Beginning balance, Weighted Average Grant Date Fair Value | $ / shares $ 2.54
RSUs granted, Weighted Average Grant Date Fair Value | $ / shares 4.37
RSUs vested, Weighted Average Grant Date Fair Value | $ / shares 4.19
RSUs cancelled/forfeited, Weighted Average Grant Date Fair Value | $ / shares 4.49
Ending balance, Weighted Average Grant Date Fair Value | $ / shares $ 1.90
Total unrecognized expense remaining | $ $ 689,297
Years expected to be recognized over 3 years