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Subsequent Events - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Feb. 20, 2024
Jan. 17, 2024
Dec. 31, 2023
Dec. 31, 2022
Subsequent Event [Line Items]        
Stock based compensation expense     $ 1,525 $ 1,707
Subsequent Event [Member] | 2023 Plan        
Subsequent Event [Line Items]        
Number of stock awards authorized to grant   1,277,130    
Subsequent Event [Member] | 2001 Plan        
Subsequent Event [Line Items]        
Shares paid for option exercises and tax withholding for share based compensation   2,590,000    
Subsequent Event [Member] | Old Options        
Subsequent Event [Line Items]        
Number of shares purchased under option exchange program 2,200,000      
Granted $ 4.88      
Subsequent Event [Member] | New options        
Subsequent Event [Line Items]        
Number of shares purchased under option exchange program 900,000      
Granted $ 2.21      
Share-based compensation arrangement by share-based payment award, exchange offer, percentage of total shares outstanding 50.00%      
Stock based compensation expense $ 100