Statements of Convertible Preferred Stock and Stockholders' Equity (Unaudited) - USD ($) $ in Thousands	Convertible Preferred Stock Series A [Member]	Convertible Preferred Stock Series B [Member]	Common Stock [Member]	Additional Paid-in Capital [Member]	Treasury Stock, Common [Member]	Retained Earnings [Member]	Total
Balance at Dec. 31, 2022	$ 5,583	$ 6	$ 75	$ 543,438	$ (206)	$ (516,967)	$ 26,346
Balance, shares at Dec. 31, 2022	22,383	5,610,121	74,874,459
Stock issued for the exercise of stock options				(18)			(18)
Stock issued for the exercise of stock options, shares			29,384
Stock-based compensation				5,314			5,314
Stock-based compensation, shares			144,054
Components of net loss						(10,304)	(10,304)
Employee stock purchase plan				48			48
Employee stock purchase plan, shares			24,568
Preferred stock conversion		$ (6)	$ 6
Preferred stock conversion, shares		(5,610,121)	5,610,121
Balance at Jun. 30, 2023	$ 5,583		$ 81	548,782	(206)	(527,271)	21,386
Balance, shares at Jun. 30, 2023	22,383		80,682,586
Balance at Mar. 31, 2023	$ 5,583	$ 6	$ 75	546,149	(206)	(522,314)	23,710
Balance, shares at Mar. 31, 2023	22,383	5,610,121	75,059,499
Stock issued for the exercise of stock options				(52)			(52)
Stock issued for the exercise of stock options, shares			196
Stock-based compensation				2,660			2,660
Stock-based compensation, shares
Components of net loss						(4,957)	(4,957)
Employee stock purchase plan				25			25
Employee stock purchase plan, shares			12,770
Preferred stock conversion		$ (6)	$ 6
Preferred stock conversion, shares		(5,610,121)	5,610,121
Balance at Jun. 30, 2023	$ 5,583		$ 81	548,782	(206)	(527,271)	21,386
Balance, shares at Jun. 30, 2023	22,383		80,682,586
Balance at Dec. 31, 2023	$ 5,577		$ 81	554,148	(206)	(537,680)	16,343
Balance, shares at Dec. 31, 2023	22,358		80,949,697
Stock issued for the exercise of stock options				12			12
Stock issued for the exercise of stock options, shares			11,763
Stock-based compensation				5,127			5,127
Stock-based compensation, shares			504,375
Components of net loss						(10,340)	(10,340)
Employee stock purchase plan				46			46
Employee stock purchase plan, shares			23,022
Preferred stock conversion	$ (169)		$ 2	166			168
Preferred stock conversion, shares	(675)		1,501,302
Balance at Jun. 30, 2024	$ 5,408		$ 83	559,499	(206)	(548,020)	11,356
Balance, shares at Jun. 30, 2024	21,683		82,990,159
Balance at Mar. 31, 2024	$ 5,464		$ 82	556,878	(206)	(542,187)	14,567
Balance, shares at Mar. 31, 2024	21,908		82,132,777
Stock issued for the exercise of stock options				4			4
Stock issued for the exercise of stock options, shares			2,213
Stock-based compensation				2,538			2,538
Stock-based compensation, shares			342,901
Components of net loss						(5,833)	(5,833)
Employee stock purchase plan				24			24
Employee stock purchase plan, shares			9,634
Preferred stock conversion	$ (56)		$ 1	55			56
Preferred stock conversion, shares	(225)		502,634
Balance at Jun. 30, 2024	$ 5,408		$ 83	$ 559,499	$ (206)	$ (548,020)	$ 11,356
Balance, shares at Jun. 30, 2024	21,683		82,990,159