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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.