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Stock Based Compensation - Additional Information (Details) - USD ($)		12 Months Ended
		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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