Net Loss Per Common Share - Calculation of diluted net loss per share (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	51,907,426	51,570,226
Common shares under option
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	3,686,191	3,842,737
Unvested RSUs
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	3,047,888	1,768,185
Shares issuable related to the ESPP
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	0	27,558
Unvested PBRSUs
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	160,275	461,250
Common shares under PBSOs
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	661,850	499,200
Shares issuable upon conversion of convertible notes
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	8,007,010	8,007,010
Warrants for common stock
Net Income (Loss) Per Common Share
Total potential dilutive shares (in shares)	36,344,212	36,964,286