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Stock-based Compensation, Assumptions Used to Value Option Grants (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employees and Nonemployees [Abstract]      
Expected dividend yield 0.00%    
Employees [Member]      
Employees and Nonemployees [Abstract]      
Expected dividend yield 0.00%    
Weighted average fair value/share at grant date (in dollars per share) $ 1.01    
Employees [Member] | Minimum [Member]      
Employees and Nonemployees [Abstract]      
Expected term (in years) 5 years 5 years 6 months  
Risk-free interest rate 3.40% 1.70%  
Expected volatility 62.00% 58.00% 54.00%
Employees [Member] | Maximum [Member]      
Employees and Nonemployees [Abstract]      
Expected term (in years) 6 years 2 months 12 days 6 years 4 months 24 days  
Risk-free interest rate 4.40% 4.20%  
Expected volatility 64.00% 64.00% 70.00%
Nonemployees [Member]      
Employees and Nonemployees [Abstract]      
Expected dividend yield   0.00% 0.00%
Weighted average fair value/share at grant date (in dollars per share)   $ 1.51 $ 5.25
Nonemployees [Member] | Minimum [Member]      
Employees and Nonemployees [Abstract]      
Expected term (in years)     5 years 6 months
Risk-free interest rate     0.90%
Nonemployees [Member] | Maximum [Member]      
Employees and Nonemployees [Abstract]      
Expected term (in years)     6 years 3 months 18 days
Risk-free interest rate     1.40%