Stock-Based Compensation - Fair Value of Stock Options Assumptions Using Black-Scholes Option Valuation Model (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Risk-free interest rate	4.01%
Risk-free interest rate, Minimum		2.94%	3.51%	1.63%
Risk-free interest rate, Maximum		3.62%	4.01%	3.62%
Expected life in years	6 years 3 months
Expected volatility	90.65%
Expected volatility, Minimum		82.43%	89.69%	74.49%
Expected volatility, Maximum		85.89%	95.63%	85.89%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Maximum [Member]
Expected life in years		6 years 3 months	6 years 3 months	6 years 3 months
Minimum [Member]
Expected life in years		6 years 2 months 23 days	5 years 21 days	5 years 3 months 7 days