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Share Based Compensation - Additional Information (Details) |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jul. 24, 2023 $ / shares shares | Jun. 23, 2023 ShareHolder shares | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) shares | Oct. 31, 2020 shares | Feb. 29, 2016 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of outstanding stock options granted |  |  | 2,041,000 | 2,541,000 |  |
Exercise price of options granted | $ / shares |  |  | $ 1.83 |  |  |
Stock compensation expense | $ |  |  | $ 5,373,000 | $ 5,961,000 |  |
Dividends | $ |  |  | $ 0 | $ 0 |  |
Stock Option Exchange Program |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Expiration date |  | Jul. 24, 2023 |  |  |  |
Number of eligible holders elected to exchange | ShareHolder |  | 83 |  |  |  |
Shares issued |  | 757,595 |  |  |  |
Percentage of shares of common stock underlying eligible options |  | 99.00% |  |  |  |
Bonus-To-Options Program |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of outstanding stock options granted |  |  | 1,050,000 | 526,000 |  |
Exercise price of options granted | $ / shares |  |  | $ 2 |  |  |
Stock compensation expense | $ |  |  | $ 400,000 | $ 1,100,000 |  |
Options and Restricted Stock Units (RSUs) |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Remaining unrecognized share based compensation expense for options and restricted stock units | $ |  |  | $ 5,900,000 |  |  |
Amortized to expense period |  |  | 2 years 6 months |  |  |
Maximum | Bonus-To-Options Program |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Option expiration period |  |  | 10 years |  |  |
2020 Equity Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  |  | 1,893,395 |  |  |
2020 Equity Incentive Plan | Performance Condition Options |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Vesting term |  |  | Performance-based options vest in three equal annual installments beginning one year after the grant date |  |  |
Number of outstanding stock options granted |  |  | 0 |  |  |
2020 Equity Incentive Plan | Stock Option Exchange Program |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Shares issued | 156,868 |  |  |  |  |
Exercise price of options granted | $ / shares | $ 1.2 |  |  |  |  |
2020 Equity Incentive Plan | Maximum |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Option expiration period |  |  | 10 years |  |  |
2020 Equity Incentive Plan | Common Stock |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Percentage of number of shares of common stock issued and outstanding |  |  | 4.00% |  |  |
2006 Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Additional stock awards granted |  |  |  |  |  | 0
2016 Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Additional stock awards granted |  |  |  |  |  | 0
2006 Plan, 2016 Plan and 2020 Equity Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Additional stock awards granted |  |  |  | 960,305 |  |
Employee Stock Purchase Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  | 338,106 |
Percentage of number of shares of common stock issued and outstanding |  |  | 1.00% |  |  |
Percentage of earnings used for purchase of common stock |  |  | 15.00% |  |  |
Percentage of fair market value of common stock for purchase under plan |  |  | 85.00% |  |  |
Description of voting power or value of stock for employee participation in offering period |  |  | No employee may participate in an offering period if the employee owns 5% or more of the total combined voting power or value of the Company’s stock. |  |  |
Description of offering period under plan |  |  | The ESPP provides for successive six-month offering periods beginning on September 1st and March 1st of each year. During the year ended December 31, 2023, 437,135 shares were issued under the ESPP leaving 309,012 shares remaining for future issuance. |  |  |

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