Stockholders' Equity - Outstanding Options Granted to Consultants for Sales and Pre-marketing Services (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options outstanding (in shares)	573,430	691,573
Options exercisable (in shares)	572,476
Options outstanding, weighted average exercise price (in dollars per share)	$ 7.564	$ 7.533
Options exercisable, weighted average exercise price (in dollars per share)	$ 7.567
Granted (in shares)	0
The 2013 Omnibus Equity Award Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)	0
Consultants | The 2005 Stock Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)	0
Consultants | The 2013 Omnibus Equity Award Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)	0
March 2014 - February 2016 | Consultants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options outstanding (in shares)	17,100
Options exercisable (in shares)	17,100
Exercisable through	March 2024 - February 2026
March 2014 - February 2016 | Consultants | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options outstanding, weighted average exercise price (in dollars per share)	$ 5.623
Options exercisable, weighted average exercise price (in dollars per share)	5.623
March 2014 - February 2016 | Consultants | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options outstanding, weighted average exercise price (in dollars per share)	13.287
Options exercisable, weighted average exercise price (in dollars per share)	$ 13.287