Summary of Significant Accounting Policies - Net loss per share (Potentially dilutive securities) (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	3,158,212	2,472,395	1,958,037
Employee Stock Option
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	2,162,453	2,071,848	1,706,438
Restricted stock units
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	907,203	311,991	163,043
Common Stock Warrants
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	88,556	88,556	88,556