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Stock Option Plan - Stock Option Activity (Details) - Stock options - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Number of Options      
Outstanding, beginning of period (in shares) 986,819    
Granted (in shares) 55,500 73,500  
Exercised (in shares) (85,124)    
Forfeited (in shares) (9,518)    
Expired (in shares) (371,526)    
Outstanding, end of period (in shares) 576,151   986,819
Vested and expected to vest, end of period (in shares) 576,151    
Options exercisable, end of period (in shares) 552,686    
Weighted- Average Exercise Price      
Outstanding, beginning of period (in dollars per share) $ 11.87    
Granted (in dollars per share) 1.99    
Exercised (in dollars per share) 0.26    
Forfeited (in dollars per share) 16.70    
Expired (in dollars per share) 15.48    
Outstanding, end of period (in dollars per share) 10.23   $ 11.87
Vested and expected to vest, end of period (in shares), Weighted Average Exercise Price (in dollars per share) 10.23    
Options exercised, end of period (in shares), Weighted Average Exercise Price (in dollars per share) $ 10.56    
Stock Options, Additional Disclosures [Abstract]      
Outstanding, Weighted Average Remaining Contractual Term 6 years 6 months 25 days   6 years 5 months 8 days
Vested and expected to vest, Weighted Average Remaining Contractual Term 6 years 6 months 25 days    
Options exercisable, Weighted Average Remaining Contractual Term 6 years 5 months 12 days    
Outstanding, Aggregate Intrinsic Value $ 197   $ 228
Vested and expected to vest, Aggregate Intrinsic Value 197    
Options exercisable, Aggregate Intrinsic Value $ 177