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Share Based Compensation - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2024	Dec. 31, 2023	Oct. 31, 2020	Feb. 29, 2016
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of outstanding stock options granted	4,163,000	2,041,000
Exercise price of options granted	$ 1.67
Stock compensation expense	$ 6,638,000	$ 5,373,000
Dividends	$ 0	$ 0
Bonus-To-Options Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of outstanding stock options granted	1,364,000	1,050,000
Exercise price of options granted	$ 1.46
Stock compensation expense	$ 800,000	$ 400,000
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	$ 5,700,000
Amortized to expense period	2 years 1 month 6 days
Maximum \| Bonus-To-Options Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Option expiration period	10 years
Common Stock \| Bonus And Stock Options To Purchase
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average fair value granted	$ 1.14	$ 1.24
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 \| 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	662,106
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, 2024, 471,843 shares were issued under the ESPP leaving 175,275 shares remaining for future issuance.
Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares reserved for issuance	338,106