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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
Dec. 31, 2023
Options Outstanding    
Outstanding at beginning of period (in shares) 5,301,254  
Granted (in shares) 0  
Forfeited/Expired (in shares) (502,460)  
Outstanding at end of period (in shares) 4,798,794 5,301,254
Vested (in shares) 3,105,675  
Exercisable (in shares) 3,369,189  
Weighted-Average Exercise Price    
Outstanding at beginning of period (in dollars per share) $ 4.76  
Forfeited/Expired (in dollars per share) 4.85  
Outstanding at end of period (in dollars per share) 4.75 $ 4.76
Vested (in dollars per share) 4.9  
Exercisable (in dollars per share) $ 4.9  
Weighted-Average Remaining Contractual Term (in years) / Aggregate Intrinsic Value    
Weighted Average Remaining Contractual Term (in years), Options Outstanding 6 years 10 months 24 days 6 years 10 months 24 days
Weighted Average Remaining Contractual Term (in years), Vested 6 years 4 months 24 days  
Weighted Average Remaining Contractual Term (in years), Exercisable 6 years 4 months 24 days  
Aggregate Intrinsic Value, Outstanding $ 0 $ 0
Aggregate Intrinsic Value, Vested 0  
Aggregate Intrinsic Value, Exercisable 0  
Unrecognized stock-based compensation expense $ 4,400  
Weighted-average vesting term 1 year 9 months 18 days