Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Stock-Based Compensation
Total stock-based compensation	$ 1,081	$ 1,369	$ 3,273	$ 3,791
Selling and Marketing Expense [Member]
Stock-Based Compensation
Total stock-based compensation	318	507	993	1,375
General and Administrative Expense [Member]
Stock-Based Compensation
Total stock-based compensation	607	670	1,804	1,861
Research and Development Expense [Member]
Stock-Based Compensation
Total stock-based compensation	$ 156	$ 192	$ 476	$ 555