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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 3 Months Ended |  |
--- | --- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023 | Dec. 31, 2022
Stockholders Equity Note [Line Items] |  |  |  |
Common stock, no par value | $ 0 |  | $ 0 |
Class Or Warrant Or Right Outstanding Weighted Average Remaining Contractual Terms | 3 years 9 months 18 days |  |  |
Proceeds from issuance of stock options | $ 627 | $ 213 |  |
Equity Incentive Plan |  |  |  |
Stockholders Equity Note [Line Items] |  |  |  |
Shares issuable under Stock Option Plan, as percent of shares outstanding | 25.00% |  |  |
Vesting period | 3 years |  |  |
Expiration term | 10 years |  |  |
Stock Option In Us Dollars [Member] |  |  |  |
Stockholders Equity Note [Line Items] |  |  |  |
Options outstanding | 4,768 | 5,032 | 4,798 | 4,539
Exercise of options (in shares) | 75 | 47 |  |
Number of stock options forfeited (in shares) | 0 | 40 |  |
Number of Options Granted | 45 | 580 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number | 3,857 |  |  |
US Denominated RSU's | Equity Incentive Plan |  |  |  |
Stockholders Equity Note [Line Items] |  |  |  |
Stock or Unit Option Plan Expense For Affected Options | $ 300 | $ 30 |  |
Vesting period | 3 years |  |  |
Maximum | Equity Incentive Plan |  |  |  |
Stockholders Equity Note [Line Items] |  |  |  |
Shares issuable under Stock Option Plan | 6,776 |  |  |

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