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Stock-Based Compensation - Service Based Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended
Sep. 30, 2024
Shares Underlying Options  
Outstanding at the end of the period (in shares) 1,874,729
Stock Option Awards  
Shares Underlying Options  
Outstanding at the beginning of the period (in shares) 1,328,621
Granted (in shares) 569,160
Exercised (in shares) (6,042)
Forfeited (in shares) (15,073)
Expired (in shares) (1,937)
Outstanding at the end of the period (in shares) 1,874,729
Exercisable at end of period (in shares) 632,600
Weighted Average Exercise Price  
Outstanding at the beginning of the period (in dollars per share) $ 5.22
Granted (in dollars per share) 1.40
Exercised (in dollars per share) 1.49
Forfeited (in dollars per share) 1.83
Expired (in dollar per share) 4.79
Outstanding at the end of the period (in dollars per share) 4.10
Exercisable at end of the period (in dollars per share) $ 8.73
Weighted Average Remaining Contractual Term  
Outstanding 8 years 2 months 12 days
Exercisable at end of the period 7 years 2 months 12 days
Aggregate Intrinsic Value (in $1,000's)  
Outstanding $ 4,068
Exercisable at end of the period $ 1,105