Stock-Based Compensation, Stock-Based Compensation by Type of Award (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation [Abstract]
Stock-based compensation expense	$ 2,778	$ 3,330
Compensation cost not yet recognized [Abstract]
Unrecognized stock-based compensation expense expected to be recognized related to stock awards	3,006
Operating Expense [Member]
Share-based Compensation [Abstract]
Stock-based compensation expense	2,778	3,330
Stock Options [Member]
Compensation cost not yet recognized [Abstract]
Unrecognized stock-based compensation expense expected to be recognized related to unvested stock options	$ 2,025
Weighted-average period for recognition of unrecognized stock-based compensation expense	1 year 9 months 18 days
Stock Options [Member] \| Operating Expense [Member]
Share-based Compensation [Abstract]
Stock-based compensation expense	$ 1,960	2,303
RSUs [Member]
Compensation cost not yet recognized [Abstract]
Unrecognized stock-based compensation expense expected to be recognized related to unvested stock awards	$ 683
Weighted-average period for recognition of unrecognized stock-based compensation expense	1 year 8 months 26 days
RSUs [Member] \| Operating Expense [Member]
Share-based Compensation [Abstract]
Stock-based compensation expense	$ 778	$ 1,027
Restricted Stock [Member]
Compensation cost not yet recognized [Abstract]
Unrecognized stock-based compensation expense expected to be recognized related to unvested stock awards	$ 298
Weighted-average period for recognition of unrecognized stock-based compensation expense	3 years 6 months 14 days
Restricted Stock [Member] \| Operating Expense [Member]
Share-based Compensation [Abstract]
Stock-based compensation expense	$ 40

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 718
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-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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