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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