Equity Incentive Plans, Options Outstanding and Vested and Currently Exercisable by Exercise Prices (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	2,102,030
Option outstanding, weighted average remaining life years	7 years 8 months 8 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	1,226,458
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 2.65
Options vested and exercisable, Weighted average remaining life years	7 years 2 months 1 day
2021 Plan [Member]
Option outstanding [Abstract]
Common stock reserved for issuance (in shares) | shares	629,555
$0.47 - 0.48 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	3,200
Option outstanding, weighted average remaining life years	9 years 6 months
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	0
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 0
$0.47 - 0.48 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	0.48
$0.47 - 0.48 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 0.47
$0.49 - 0.53 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	1,061,600
Option outstanding, weighted average remaining life years	9 years 6 months
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	601,400
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 0.49
Options vested and exercisable, Weighted average remaining life years	9 years 6 months 3 days
$0.49 - 0.53 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 0.53
$0.49 - 0.53 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 0.49
$0.54 - 1.61 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	186,000
Option outstanding, weighted average remaining life years	9 years 1 month 24 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	51,725
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 1.5
Options vested and exercisable, Weighted average remaining life years	8 years 5 months 8 days
$0.54 - 1.61 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.61
$0.54 - 1.61 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 0.54
$1.62 - 1.74 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	193,335
Option outstanding, weighted average remaining life years	2 years 2 months 15 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	82,224
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 1.71
Options vested and exercisable, Weighted average remaining life years	2 years 2 months 15 days
$1.62 - 1.74 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.74
$1.62 - 1.74 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.62
$1.75 - 3.14 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	196,242
Option outstanding, weighted average remaining life years	8 years 7 months 9 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	29,456
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 2.96
Options vested and exercisable, Weighted average remaining life years	8 years 1 month 6 days
$1.75 - 3.14 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.14
$1.75 - 3.14 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.75
$3.15 - 3.6 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	259,836
Option outstanding, weighted average remaining life years	3 years 6 months
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	259,836
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 3.24
Options vested and exercisable, Weighted average remaining life years	3 years 6 months
$3.15 - 3.6 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.6
$3.15 - 3.6 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.15
$3.61 - 13.00 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares) | shares	201,817
Option outstanding, weighted average remaining life years	6 years 6 months 7 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares) | shares	201,817
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 8.97
Options vested and exercisable, Weighted average remaining life years	6 years 6 months 7 days
$3.61 - 13.00 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 13
$3.61 - 13.00 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.61