Stock-based Compensation - Stock-Based Compensation (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 expense	$ 310	$ 537	$ 1,274	$ 1,535
Research and development expense
Stock-based Compensation
Total stock-based compensation expense	97	272	562	756
Sales and marketing expense
Stock-based Compensation
Total stock-based compensation expense	32	40	104	175
General and administrative expense
Stock-based Compensation
Total stock-based compensation expense	181	$ 225	608	$ 604
Stock options and RSUs
Stock-based Compensation
Unrecognized stock-based compensation expense	$ 0		$ 0