Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Stock-based Compensation
Total stock-based compensation expense	$ 581,000	$ 480,000
Research and development expense
Stock-based Compensation
Total stock-based compensation expense	289,000	227,000
Sales and marketing expense
Stock-based Compensation
Total stock-based compensation expense	40,000	49,000
General and administrative expense
Stock-based Compensation
Total stock-based compensation expense	252,000	$ 204,000
Stock options and RSUs
Stock-based Compensation
Unrecognized stock-based compensation expense	$ 28,968
Expected weighted average period to be recognized	2 months 8 days