Stock-Based Compensation (Details) - USD ($)	3 Months Ended		12 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Jan. 01, 2024	Oct. 03, 2014
Stock-Based Compensation [Line Items]
Common stock subject to outstanding awards	11,433,837		11,364,903
Common stock shares	46,112
Intrinsic value option (in Dollars)	$ 0
Restricted Stock Units (RSUs) [Member]
Stock-Based Compensation [Line Items]
Unrecognized share based compensation (in Dollars)	$ 821,000
Recognized over a weighted average period	2 years 3 months 25 days
Number of RSUs	289,500		289,500
Issued of shares	68,934
Number of RSUs Settled	104,484
Net share settlement (in Dollars)	$ 76,000
Stock Options [Member]
Stock-Based Compensation [Line Items]
Unrecognized share based compensation (in Dollars)	$ 6,301,000
Recognized over a weighted average period	2 years 10 months 9 days
Weighted average grant fair value per share (in Dollars per share)	$ 1.52	$ 2.42
2020 Inducement Plan [Member]
Stock-Based Compensation [Line Items]
Common stock shares	600,000
Common stock subject to outstanding awards	409,000
Common stock shares	19,100
2017 Equity Incentive Plan [Member]
Stock-Based Compensation [Line Items]
Common stock shares	2,000,000
Amended and Restated 2014 Plan [Member]
Stock-Based Compensation [Line Items]
Common stock subject to outstanding awards	4,090,945
Common stock shares	181,939
Amended and Restated 2014 Plan [Member] | Minimum [Member]
Stock-Based Compensation [Line Items]
Number of shares authorized and increased				911,380
Amended and Restated 2014 Plan [Member] | Maximum [Member]
Stock-Based Compensation [Line Items]
Common stock shares				4,474,683
2014 Employee Stock Purchase Plan [Member]
Stock-Based Compensation [Line Items]
Common stock shares	46,112				3,513
Employee stock purchase plan increase, description	The number of shares increases each January 1, commencing on January 1, 2015 and ending on (and including) January 1, 2024, by an amount equal to the lesser of one percent of the outstanding shares as of the end of the immediately preceding fiscal year, 7,025 shares or any lower amount determined by the Company’s Board of Directors prior to each such January 1st.
2014 Employee Stock Purchase Plan [Member] | Minimum [Member]
Stock-Based Compensation [Line Items]
Number of shares authorized and increased				7,025
2014 Employee Stock Purchase Plan [Member] | Maximum [Member]
Stock-Based Compensation [Line Items]
Common stock shares				46,112