Equity Plan - Stock Option Activity (Details) - Employee Stock Option [Member]	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Number of Shares
Outstanding at the beginning of the period (in shares)	2,527,173
Granted (in shares)	397,000
Exercised (in shares)	(220,666)
Forfeited or expired (in shares)	(66,151)
Outstanding at the end of the period (in shares)	2,637,356
Vested or expected to vest (in shares)	2,479,115
Exercisable at the end of the period (in shares)	1,947,357
Weighted Average Exercise Price
Outstanding at the beginning of the period (in dollars per share) | $ / shares	$ 10.44
Granted (in dollars per share) | $ / shares	7.45
Exercised (in dollars per share) | $ / shares	5.53
Forfeited or expired (in dollars per share) | $ / shares	10.26
Outstanding at the end of the period (in dollars per share) | $ / shares	$ 10.40
Additional Information
Weighted Average Remaining Contractual Life - Outstanding at the end of the period (in years)	5 years 7 months 2 days
Weighted Average Remaining Contractual Life - Vested or expected to vest (in years)	5 years 7 months 2 days
Weighted Average Remaining Contractual Life - Exercisable at the end of the period (in years)	4 years 6 months 3 days
Aggregate Intrinsic Value - Outstanding at the end of the period (in dollars) | $	$ 2,664,557
Aggregate Intrinsic Value - Vested or expected to vest (in dollars) | $	2,504,684
Aggregate Intrinsic Value - Exercisable at the end of the period (in dollars) | $	$ 1,811,470