Stock-Based Compensation - Stock Option Activity Under Stock Option Plan (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Number of Shares
Beginning Balance	465,898
Granted	40,000	204,344
Cancelled	(254,441)
Ending Balance	251,457
Options exercisable, at end of period	161,844
Options available for future grant	1,514,087
Weighted Average Exercise Price
Beginning Balance	$ 26.85
Granted	1.8
Cancelled	19.61
Ending Balance	21.15
Options exercisable, at end of period	$ 28.28
Weighted Average Contractual Term (Years)
Outstanding, at end of period	6 years 11 months 1 day
Options exercisable, at end of period	5 years 6 months 10 days
Aggregate Intrinsic Value
Outstanding, at end of period	$ 0
Options exercisable, at end of period	$ 0