Stockholders' Equity - Stock Option Activity (Details) - USD ($)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Shares
Stock options outstanding at beginning of period	6,438,931
Granted	0	0
Expired	(193,308)
Forfeited	(35,006)
Stock options outstanding at end of period	6,210,617
Stock options exercisable at end of period	4,636,176
Weighted Average Exercise Price
Stock options outstanding at beginning of period (in dollars per share)	$ 3.63
Expired (in dollars per share)	4.79
Forfeited (in dollars per share)	2.13
Stock options outstanding at end of period (in dollars per share)	3.60
Stock options exercisable at end of period (in dollars per share)	$ 4.37
Aggregate Intrinsic Value
Stock options outstanding at beginning of period	$ 9,052
Stock options outstanding at end of period	3,158
Stock options exercisable at end of period	$ 3,158
Weighted Average Remaining Contractual Life
Stock options outstanding at end of period	8 years
Stock options exercisable at end of period	7 years 8 months 12 days
Unrecognized stock-based compensation expense	$ 1,700,000
Unrecognized stock-based compensation expense, recognition period	10 months 24 days