Income Taxes (Details Narrative) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Operating Loss Carryforwards [Line Items]
Tax credit expiration date, description	expire in 2024 through 2036
Deferred tax valuation allowance, percentage	100.00%
Deferred tax valuation allowance	$ 6.8	$ 3.9
Domestic Tax Authority [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	337.7
Operating loss carryforwards, not subject to limitation	27.9
Tax credit research and development	15.4
Domestic Tax Authority [Member] | Shareholders [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	59.3
Domestic Tax Authority [Member] | Expire in 2024 Through 2037 [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	309.8
Domestic Tax Authority [Member] | Unrestricted [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	278.4
State and Local Jurisdiction [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	261.5
Tax credit research and development	15.4
State and Local Jurisdiction [Member] | Unrestricted [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 202.2
California [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards, expiration date	expire in 2029 through 2042