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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Feb. 15, 2024
Jan. 01, 2024
Jan. 01, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock-based compensation            
Stock-based compensation       $ 1,592 $ 1,903  
Stock-based compensation expense, net of estimated forfeitures, related to unvested awards not yet recognized       $ 2,091    
Weighted average period over which unrecognized compensation expense is expected to be recognized       2 years 6 months 7 days    
Weighted average grant date fair value of options granted (in dollars per share)       $ 1.63 $ 3.31  
Taxes paid on employees' behalf related to vesting of stock awards       $ (41) $ (37)  
Additional Paid-In Capital            
Stock-based compensation            
Taxes paid on employees' behalf related to vesting of stock awards       $ (41) $ (37)  
2018 Stock Plan            
Stock-based compensation            
Shares reserved for issuance       32,500    
Increase in shares available for issuance, percent       5.00%    
Additional shares authorized     247,210      
Options and restricted stock awards issued (in shares)       1,517,319    
Options and restricted stock awards outstanding (in shares)       1,324,777    
2018 Stock Plan | Subsequent Event            
Stock-based compensation            
Additional shares authorized   601,621        
2006 Plan, 2014 Plan and 2018 Stock Plan            
Stock-based compensation            
Expiration period       10 years    
2006 Plan, 2014 Plan and 2018 Stock Plan | Minimum            
Stock-based compensation            
Vesting period for options granted       1 year    
2006 Plan, 2014 Plan and 2018 Stock Plan | Maximum            
Stock-based compensation            
Vesting period for options granted       4 years    
Stock options            
Stock-based compensation            
Unvested and outstanding options (in shares)       1,338,921 979,748 722,765
Exercise of common stock options (in shares)       0 0  
Weighted average remaining contractual term for options outstanding       7 years 5 months 15 days 8 years 1 month 24 days 8 years 9 months 14 days
Stock options | 2006 Plan            
Stock-based compensation            
Options awarded to date (in shares)       3,662    
Unvested and outstanding options (in shares)       79    
Stock options | 2018 Stock Plan            
Stock-based compensation            
Options awarded to date (in shares)       16,896    
Unvested and outstanding options (in shares)       14,065    
Restricted stock awards | 2014 Plan            
Stock-based compensation            
Options awarded to date (in shares)       3,619    
RSUs            
Stock-based compensation            
RSUs awarded (in shares)       0    
RSUs | Subsequent Event            
Stock-based compensation            
RSUs awarded (in shares) 600,000          
Share-based compensation arrangement by share-based payment award, award vesting rights, percentage 50.00%          
RSUs | Minimum | Subsequent Event            
Stock-based compensation            
Share-based compensation arrangement by share-based payment award, equity instruments other than options, increments grants period 6 months          
RSUs | Maximum | Subsequent Event            
Stock-based compensation            
Share-based compensation arrangement by share-based payment award, equity instruments other than options, increments grants period 12 months