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Stock Based Compensation - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Intrinsic value of stock options exercised |  | $ 40,000 |  |
Stock-based compensation |  | $ 3,681,000 | $ 4,978,000 |
Common stock, reserved for future issuance |  | 4,083,000 | 3,825,000 |
Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Offering period of employee stock purchase plan |  | 6 months |  |
Limited percentage of annual contribution |  | 20.00% |  |
Percentage of discount and fair value of option |  | 15.00% |  |
Proceeds from stock issued during period |  | $ 200,000 | $ 400,000 |
Number of stock issued during period |  | 38,401 | 47,852 |
Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total unrecognized compensation cost |  | $ 3,400,000 |  |
Total unrecognized compensation cost, period for recognition |  | 2 years 10 months 24 days |  |
Restricted stock units, Grants |  | 726,000 |  |
Restricted stock units, Vested |  | 312,000 |  |
Weighted average grant date fair value, Grants |  | $ 4.94 | $ 8.05 |
Restricted stock units, vesting period description |  |  | vest equally after each of the annual anniversaries over a four-year period. |
Restricted Stock Units | Employees |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Restricted stock units, vesting period description |  | fully vest on the one year anniversary of the grant date. Employees and consultants were granted 698,200 |  |
Restricted stock units, vesting period |  | 4 years |  |
Restricted Stock Units | Employees And Consultants [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Restricted stock units, Vested |  | 698,200 | 274,800 |
Weighted average grant date fair value, Grants |  | $ 4.82 |  |
Restricted stock units, vesting period |  |  | 4 years |
Employee Stock Option [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Proceeds from exercise of stock options |  | $ 28,000 | $ 21,000 |
Weighted average grant-date fair value of options granted |  | $ 2.53 | $ 4.58 |
Grant date fair value of shares vested |  | $ 1,900,000 | $ 3,400,000 |
Total unrecognized compensation cost |  | $ 2,100,000 |  |
Total unrecognized compensation cost, period for recognition |  | 2 years 6 months |  |
Performance Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total unrecognized compensation cost |  | $ 100,000 |  |
Restricted stock units, Grants |  | 18,000 |  |
Restricted stock units, Vested |  | 0 |  |
Weighted average grant date fair value, Grants |  | $ 0.6 |  |
Description of performance stock unit |  | Service as well as market and performance conditions determine the number of PSUs that the holder will earn from 0% to 150% of the target number of shares. The percentage received is based on the Company common stock price targets over a three-year service period. Additionally, the Company must achieve or exceed 75% of the year to date revenue target measured at the end of the quarter in which the price target is achieved. The market conditions have not currently been met. |  |
Weighted average remaining contractual term |  | 1 year 3 months 18 days |  |
Share-Settled Obligation [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation expense -Share-Settled Obligation |  | $ 100,000 |  |
Share-Settled Obligation Setteled |  | 900,000 |  |
Share Granted upon Settlement of debt |  | 187,200 |  |
Board of Directors Chairman |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of stock option value awarded per year -Chairperson |  | 45,000 | 45,000 | $ 45,000
Board of Directors Chairman | Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of restricted stock units value awarded per year -Chairperson |  | $ 45,000 | $ 45,000 | $ 45,000
Restricted stock units, Grants |  | 28,000 | 19,100 |
Weighted average grant date fair value, Grants |  | $ 8 | $ 9.46 |
Minimum [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Service period for stock options granted to employees |  | 1 year |  |
Minimum [Member] | Restricted Stock Units | Employees |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Restricted stock units, vesting period description |  | vest on grant date or vest equally after each of the annual anniversaries over a four year period. |  |
Maximum [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Service period for stock options granted to employees |  | 4 years |  |
Maximum [Member] | Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Purchase price percentage of market value of common stock |  | 85.00% |  |
Authorized for Grants under the 2016 Equity Incentive Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock, reserved for future issuance | [1] | 448,000 | 507,000 |
[1] | On January 1 ,2023, the number of authorized shares in the 2016 Plan increased by 431,000 shares pursuant to the evergreen provisions of the 2016 Equity Incentive Plan.

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