Stock-based Compensation - Summary of Stock Options Outstanding (Details) - Stock Option	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise Price (Lower)	$ 2.5
Exercise Price (Upper)	$ 40
Options Outstanding, Number | shares	727,066
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	4 years 11 months 23 days
Options Outstanding, Weighted Average Exercise Price	$ 3.5
Options Exercisable, Number | shares	702,300
Options Exercisable, Weighted Average Exercise Price	$ 3.52
Options Exercisable, Weighted Average Remaining Contractual Life (Years)	4 years 10 months 24 days
Exercise Price $2.50 - $3.00
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise Price (Lower)	$ 2.5
Exercise Price (Upper)	$ 3
Options Outstanding, Number | shares	483,093
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	4 years 7 months 24 days
Options Outstanding, Weighted Average Exercise Price	$ 2.97
Options Exercisable, Number | shares	462,270
Options Exercisable, Weighted Average Exercise Price	$ 2.97
Options Exercisable, Weighted Average Remaining Contractual Life (Years)	4 years 6 months 10 days
Exercise Price $3.01 - $4.00
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise Price (Lower)	$ 3.01
Exercise Price (Upper)	$ 4
Options Outstanding, Number | shares	86,550
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	6 years 11 months 15 days
Options Outstanding, Weighted Average Exercise Price	$ 3.54
Options Exercisable, Number | shares	84,607
Options Exercisable, Weighted Average Exercise Price	$ 3.54
Options Exercisable, Weighted Average Remaining Contractual Life (Years)	6 years 11 months 15 days
Exercise Price $4.01 - $5.00
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise Price (Lower)	$ 4.01
Exercise Price (Upper)	$ 5
Options Outstanding, Number | shares	133,618
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	4 years 11 months 4 days
Options Outstanding, Weighted Average Exercise Price	$ 4.7
Options Exercisable, Number | shares	131,618
Options Exercisable, Weighted Average Exercise Price	$ 4.71
Options Exercisable, Weighted Average Remaining Contractual Life (Years)	4 years 10 months 24 days
Exercise Price $5.01 - $5.50
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise Price (Lower)	$ 5.01
Exercise Price (Upper)	$ 5.5
Options Outstanding, Number | shares	20,378
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	5 years 4 months 2 days
Options Outstanding, Weighted Average Exercise Price	$ 5.24
Options Exercisable, Number | shares	20,378
Options Exercisable, Weighted Average Exercise Price	$ 5.24
Options Exercisable, Weighted Average Remaining Contractual Life (Years)	5 years 4 months 2 days
Exercise Price $12 - $18
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise Price (Lower)	$ 12
Exercise Price (Upper)	$ 18
Options Outstanding, Number | shares	2,332
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	2 years 7 months 9 days
Options Outstanding, Weighted Average Exercise Price	$ 14.35
Options Exercisable, Number | shares	2,332
Options Exercisable, Weighted Average Exercise Price	$ 14.35
Options Exercisable, Weighted Average Remaining Contractual Life (Years)	2 years 7 months 9 days
Exercise Price $25 - $40
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise Price (Lower)	$ 25
Exercise Price (Upper)	$ 40
Options Outstanding, Number | shares	1,095
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	8 months 19 days
Options Outstanding, Weighted Average Exercise Price	$ 33.9
Options Exercisable, Number | shares	1,095
Options Exercisable, Weighted Average Exercise Price	$ 33.9
Options Exercisable, Weighted Average Remaining Contractual Life (Years)	8 months 19 days