Equity Incentive Plans - Summary of Stock Awards and Option Activity Under Stock Incentive Plan (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]
Awards Available for Grant, Beginning balance	7,057,446
Awards Available for Grant, Authorized	0
Awards Available for Grant, Granted	(5,000)
Awards Available for Grant, Canceled	13,507
Awards Available for Grant, Ending balance	7,065,953	7,057,446
Options Issued and Outstanding, Beginning balance	431,081
Options Issued and Outstanding, Exercised	(13,000)
Options Issued and Outstanding, Ending balance	418,081	431,081
Options Issued and Outstanding, Options vested and exercisable	418,081
Weighted Average Exercise Price, Beginning balance	$ 2.81
Weighted Average Exercise Price, Exercised	2.48
Weighted Average Exercise Price, Ending balance	2.83	$ 2.81
Weighted Average Exercise Price, Options vested and exercisable	$ 2.83
Weighted-Average Remaining Contractual Term	3 years	3 years 3 months 18 days
Weighted-Average Remaining Contractual Term, Options vested and exercisable	3 years
Aggregate Intrinsic Value	$ 2,490	$ 3,305
Aggregate Intrinsic Value, Options vested and exercisable	$ 2,490