Stock-Based Compensation - Schedule of employee and nonemployee stock option activity (Details) - Stock Options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares
Beginning balance (in shares)	1,426,132	1,664,448
Granted (in shares)	8,500	68,105
Exercised (in shares)	(30,685)	(173,889)
Expired/Forfeited (in shares)	(145,464)	(132,532)
Ending balance (in shares)	1,258,483	1,426,132	1,664,448
Shares, Exercisable (in shares)	1,136,831
Shares, Vested and expected to vest (in shares)	1,258,483
Weighted Average Exercise Price
Beginning balance (in Dollars per share)	$ 21.45	$ 19.10
Granted (in Dollars per share)	4.45	78.00
Exercised (in Dollars per share)	1.00	5.80
Expired/Forfeited (in Dollars per share)	44.02	41.60
Ending balance (in Dollars per share)	19.22	$ 21.45	$ 19.10
Weighted Average Exercise Price, Exercisable (in Dollars per share)	16.93
Vested and expected to vest (in Dollars per share)	$ 19.22
Weighted Average Remaining Contract Term (in years)
Outstanding	4 years 6 months	6 years 6 months	7 years 6 months
Exercisable	4 years 2 months 12 days
Vested and expected to vest	4 years 6 months
Aggregate Intrinsic Value (in thousands)
Outstanding	$ 767	$ 6,486	$ 126,591
Exercisable	767
Vested and expected to vest	$ 767