Stock-Based Compensation - Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total employee stock-based compensation	$ 5,273	$ 5,055
Research and development expense
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total employee stock-based compensation	1,574	1,671
Sales and marketing expense
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total employee stock-based compensation	657	590
General and administrative expense
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total employee stock-based compensation	$ 3,042	$ 2,794