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Capital Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
May 31, 2021
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Feb. 27, 2023
Class of Stock [Line Items]            
Stock options exercised (shares)       214,284 252,100  
Weighted average exercise price of stock options exercised (in dollars per share)       $ 1.97 $ 2.43  
Proceeds from exercises of stock options       $ 422 $ 612  
Sale of stock, securities registered aggregate amount           $ 200,000
Sale of stock, consideration received on transaction, gross       8,700    
Net proceeds received       7,900    
Costs incurred in connection with offering       721    
PSC            
Class of Stock [Line Items]            
Sale of stock, period 3 years          
Sale of stock, value of shares for issuance   $ 41,300   $ 41,300    
Sale of stock, maximum selling period 3 years          
Sale of stock, commissions, percentage of gross sales price 3.00%          
Issuance of common stock, net of issuance costs (shares)   0 0 3,079,421 0  
PSC | Maximum            
Class of Stock [Line Items]            
Sale of stock, value of shares for issuance $ 50,000          
Sale of stock, commissions and reimbursements, percentage of gross sales price 8.00%