Stock Compensation - Employee Stock Purchase Plan (Details) - Employee Stock - USD ($)	1 Months Ended	12 Months Ended
	Apr. 30, 2020	Dec. 31, 2023	Dec. 31, 2022
Stock compensation
Maximum employee subscription rate	10.00%
Maximum employee subscription amount	$ 25,000
Purchase discount of employee stock	15.00%
Stock plan offering period	6 months
Stock-based compensation expense		$ 300,000	$ 400,000
Shares issued (in shares)		610,506
Shares reserved for future issuance (in shares)		214,494