Stock-Based Compensation - Narratives (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) item $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Stock-Based Compensation
Number of equity incentive plans | item	2
Aggregate intrinsic value of exercisable options | $	$ 100,000	$ 16,000	$ 400,000
Employee Stock Option [Member]
Stock-Based Compensation
Weighted average grant date fair value, Options (per share) | $ / shares	$ 7.19	$ 6.55	$ 8.66
Inducement grants of Stock Options	355,766
Aggregate intrinsic value of outstanding options | $	$ 300,000
Unrecognized compensation expense | $	$ 3,500,000
Weighted average period for recognition of unrecognized expenses	2 years 2 months 12 days
Restricted stock units
Stock-Based Compensation
Weighted average grant date fair value, Equity Instruments (per share) | $ / shares	$ 10.25	$ 11.21	$ 16.57
Aggregate intrinsic value | $	$ 6,000,000.0	$ 3,600,000
Unrecognized compensation expense | $	$ 4,800,000
Weighted average period for recognition of unrecognized expenses	2 years 10 months 24 days
Granted	729,734	197,950	194,232
Performance based restricted stock units
Stock-Based Compensation
Weighted average grant date fair value, Equity Instruments (per share) | $ / shares	$ 10.95
Inducement grants	123,250
Granted	250,149
Performance based restricted stock units | Minimum
Stock-Based Compensation
Vest Range	0.00%
Performance based restricted stock units | Maximum
Stock-Based Compensation
Vest Range	110.00%
Service based restricted stock unit
Stock-Based Compensation
Vesting period	4 years
Weighted average grant date fair value, Equity Instruments (per share) | $ / shares	$ 9.89
Granted	479,585
2019 Equity Incentive Plan
Stock-Based Compensation
Shares available for future issuance	1,138,279
Common Stock Capital Shares Reserved For Future Annual Issuance	432,442
Common Stock Capital Shares Reserved For Future Issuance, Percentage Of Shares Outstanding Last Day Of Fiscal Year	4.00%
Vesting period	4 years
Contractual term	10 years