Equity Financings (Details Textual) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Jul. 22, 2020
Equity Financing [Line Items]
Common stock, par value	$ 0.001	$ 0.001
JonesTrading
Equity Financing [Line Items]
Percentage of selling commission per additional shares sold			3.00%
Sales Agreement | JonesTrading
Equity Financing [Line Items]
Common stock, par value			$ 0.001
Aggregate offering price of common stock authorized			$ 54.0
2020 Sales Agreement
Equity Financing [Line Items]
Sale of common stock	0	0