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Stock-Based Compensation - Stock option activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Shares Available for Grant      
Outstanding as of beginning of year 99,363    
Granted (20,000)    
Forfeited 1,225,092    
Outstanding as of ending of year 1,304,455   99,363
Number of Shares Outstanding      
Outstanding as of beginning of year 10,069,394    
Granted 20,000    
Forfeited (1,225,092)    
Outstanding as of ending of year 8,864,302   10,069,394
Vested and exercisable 6,446,174    
Weighted Average Exercise Price      
Outstanding as of beginning of year $ 2.72    
Granted 0.64    
Forfeited 4.96    
Outstanding as of ending of year 2.40   $ 2.72
Vested and exercisable as of ending of year $ 2.20    
Weighted Average Remaining Contractual Life (Years)      
Outstanding as of ending of year 7 years 25 days   7 years 1 month 20 days
Vested and exercisable as of ending of year 6 years 5 months 26 days    
Aggregate Intrinsic Value      
Aggregate Intrinsic Value, outstanding $ 80   $ 141
Vested and exercisable $ 75    
Weighted average grant date fair value of options granted $ 0.36    
Share based payment award shares options exercise 0 213,020  
Fair value of the shares subject to stock options vested $ 345 $ 793  
Unamortized stock-based compensation expense $ 2,300    
Vesting term (in years) 2 years 6 months 7 days