Summary of Option and Stock Appreciation Rights Outstanding by Range of Exercise Price (Details) - Stock Option and Stock Appreciation Rights (SARs) [Member]	12 Months Ended
Dec. 31, 2023 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options Outstanding \| shares	3,650,115
Weighted Average Remaining Life	6 years 10 months 17 days
Weighted Average Exercise Price	$ 3.93
Number of Options Currently Exercisable \| shares	2,364,166
Weighted Average Exercise Price per Vested Share	$ 3.93
Range of Exercise Prices One [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit	0.00
Range of Exercise Prices, Upper Limit	$ 1.00
Options Outstanding \| shares	314,887
Weighted Average Remaining Life	4 years 1 month 28 days
Weighted Average Exercise Price	$ 0.74
Number of Options Currently Exercisable \| shares	314,887
Weighted Average Exercise Price per Vested Share	$ 0.74
Range of Exercise Prices Two [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit	1.01
Range of Exercise Prices, Upper Limit	$ 2.00
Options Outstanding \| shares	80,516
Weighted Average Remaining Life	8 years 6 months 7 days
Weighted Average Exercise Price	$ 1.57
Number of Options Currently Exercisable \| shares	22,771
Weighted Average Exercise Price per Vested Share	$ 1.47
Range of Exercise Prices Three [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit	2.01
Range of Exercise Prices, Upper Limit	$ 4.00
Options Outstanding \| shares	1,241,853
Weighted Average Remaining Life	7 years 1 month 13 days
Weighted Average Exercise Price	$ 2.33
Number of Options Currently Exercisable \| shares	600,481
Weighted Average Exercise Price per Vested Share	$ 2.07
Range of Exercise Prices Four [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit	4.01
Range of Exercise Prices, Upper Limit	$ 10.00
Options Outstanding \| shares	2,012,859
Weighted Average Remaining Life	7 years 29 days
Weighted Average Exercise Price	$ 5.50
Number of Options Currently Exercisable \| shares	1,426,027
Weighted Average Exercise Price per Vested Share	$ 5.45

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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