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Nature of Business (Details) - USD ($)
3 Months Ended
Apr. 01, 2024
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Liquidity          
Net loss   $ 4,983,000 $ 5,775,000    
Accumulated deficit   487,614,000   $ 482,631,000  
Cash and cash equivalents   $ 16,390,000 $ 34,220,000 $ 20,821,000 $ 38,757,000
Subsequent event | Private Placement [Member]          
Liquidity          
Proceeds from issuance of common stock $ 14,000,000