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Stock-Based Compensation, Outstanding and Exercisable Options under Stock Based Compensation Plans (Details)
12 Months Ended
Dec. 31, 2023
$ / shares
shares
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 6,333,841
Options Outstanding, Weighted Average Remaining Contractual Life 6 years 9 months 7 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.66
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 4,541,761
Options Exercisable, Number of Shares (in dollars per share) $ 2.79
$0.87-$1.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 120,500
Options Outstanding, Weighted Average Remaining Contractual Life 2 years 11 months 15 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 0.89
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 120,500
Options Exercisable, Number of Shares (in dollars per share) $ 0.89
$1.01-$3.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 5,046,604
Options Outstanding, Weighted Average Remaining Contractual Life 7 years 5 months 12 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.01
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 3,302,857
Options Exercisable, Number of Shares (in dollars per share) $ 2.09
$3.01-$5.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 809,237
Options Outstanding, Weighted Average Remaining Contractual Life 4 years 11 months 23 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 4.28
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 760,904
Options Exercisable, Number of Shares (in dollars per share) $ 4.71
$5.01 - $8.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 220,000
Options Outstanding, Weighted Average Remaining Contractual Life 4 years 1 month 9 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 5.92
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 220,000
Options Exercisable, Number of Shares (in dollars per share) $ 5.92
$8.01-$13.38 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 137,500
Options Outstanding, Weighted Average Remaining Contractual Life 21 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 13.38
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 137,500
Options Exercisable, Number of Shares (in dollars per share) $ 13.38
Minimum [Member] | $0.87-$1.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 0.87
Minimum [Member] | $1.01-$3.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 1.01
Minimum [Member] | $3.01-$5.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 3.01
Minimum [Member] | $5.01 - $8.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 5.01
Minimum [Member] | $8.01-$13.38 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 8.01
Maximum [Member] | $0.87-$1.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 1
Maximum [Member] | $1.01-$3.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 3
Maximum [Member] | $3.01-$5.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 5
Maximum [Member] | $5.01 - $8.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 8
Maximum [Member] | $8.01-$13.38 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) $ 13.38