Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation - Schedule of Outstanding and Exercisable Options (Details)

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Stock-Based Compensation - Schedule of Outstanding and Exercisable Options (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Options outstanding (in shares) 3,011,247 3,506,184
Options Outstanding, weighted average remaining contractual life 3 years 10 months 24 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 1.85 $ 1.87
Options Exercisable (in shares) 2,259,124  
Options Exercisable, weighted average exercise price (in dollars per share) $ 1.74  
Minimum    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices 0.63  
Maximum    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices 2.50  
$0.63    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices $ 0.63  
Options outstanding (in shares) 197,103  
Options Outstanding, weighted average remaining contractual life 1 year 10 months 9 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 0.63  
Options Exercisable (in shares) 197,103  
Options Exercisable, weighted average exercise price (in dollars per share) $ 0.63  
$0.70    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices $ 0.70  
Options outstanding (in shares) 71,034  
Options Outstanding, weighted average remaining contractual life 2 years 5 months 26 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 0.70  
Options Exercisable (in shares) 71,034  
Options Exercisable, weighted average exercise price (in dollars per share) $ 0.70  
$1.13    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices $ 1.13  
Options outstanding (in shares) 237,963  
Options Outstanding, weighted average remaining contractual life 3 years 3 months 21 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 1.13  
Options Exercisable (in shares) 237,963  
Options Exercisable, weighted average exercise price (in dollars per share) $ 1.13  
$1.46    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices $ 1.46  
Options outstanding (in shares) 235,833  
Options Outstanding, weighted average remaining contractual life 6 years 8 months 1 day  
Options outstanding, weighted average exercise price (in dollars per share) $ 1.46  
Options Exercisable (in shares) 191,613  
Options Exercisable, weighted average exercise price (in dollars per share) $ 1.46  
$1.94    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices $ 1.94  
Options outstanding (in shares) 1,586,707  
Options Outstanding, weighted average remaining contractual life 4 years 8 months 26 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 1.94  
Options Exercisable (in shares) 1,225,479  
Options Exercisable, weighted average exercise price (in dollars per share) $ 1.94  
$2.50    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Range of Exercise Prices $ 2.50  
Options outstanding (in shares) 682,607  
Options Outstanding, weighted average remaining contractual life 1 year 11 months 4 days  
Options outstanding, weighted average exercise price (in dollars per share) $ 2.50  
Options Exercisable (in shares) 335,932  
Options Exercisable, weighted average exercise price (in dollars per share) $ 2.50