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Stock Based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jan. 01, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Outstanding (in shares) | 1,239,750 | 1,044,250 |  |
Award vesting period | 4 years |  |  |
Weighted average grant date fair value of stock options, issued (in dollars per share) | $ 4.21 | $ 2.96 |  |
Unrecognized compensation cost | $ 1,848 |  |  |
Warrants outstanding |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Dividend yield percentage | 0.00% | 0.00% |  |
Unrecognized compensation cost period | 1 year 4 months 24 days |  |  |
Issued (in shares) | 459,950 |  |  |
Warrants, unrecognized compensation cost | $ 282 |  |  |
Warrants outstanding | Underwriter |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Issued (in shares) | 313,950 |  |  |
Options outstanding |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Dividend yield percentage | 0.00% | 0.00% |  |
Expiration period | 10 years |  |  |
Unrecognized compensation cost period | 2 years 2 months 12 days |  |  |
2021 Plan |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Number of shares available for grant (in shares) |  |  | 3,000,000 |
Number of shares available for grant (in shares) | 2,837,700 |  |  |
Increase in amount of shares percentage |  |  |  | 3.50%
Number of shares authorized (in shares) |  |  | 238,700 |
2013 Plan |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Number of shares available for grant (in shares) |  |  | 0 |

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