Stockholders' Equity - (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Common stock reserved
Dividends on common stock	$ 0
Reserved shares of common stock for future issuance	3,316,124	3,359,305
Common stock warrants
Common stock reserved
Reserved shares of common stock for future issuance	18,461	18,461
Options Issued and Outstanding [Member]
Common stock reserved
Reserved shares of common stock for future issuance	1,793,485	1,994,726
Shares Available for Future Option Grants [Member]
Common stock reserved
Reserved shares of common stock for future issuance	598,397	689,472
RSUs subject to future vesting
Common stock reserved
Reserved shares of common stock for future issuance	905,781	656,646