Income Taxes - Schedule of Components of Net Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 1,836	$ 5,855
Net operating loss carryforwards - Section 382 limited	6,195
Intangible assets	5,530	5,866
Capitalization of research and experimentation expenses	3,211	2,533
Stock-based compensation	727	1,150
Fixed assets	165	272
Other	1,257	658
Total deferred tax assets	18,921	16,334
Valuation allowance	(17,871)	(16,331)
Total deferred tax assets, net of valuation allowance	1,050	3
Deferred tax liabilities:
Section 481(a) adjustment	(670)
Other	(380)	(3)
Total deferred tax liabilities	$ (1,050)	$ (3)