Stock-Based Compensation - Stock Option Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Number of Options Outstanding
Beginning balance | shares	3,863,000
Options exercised | shares	(20,000)
Options forfeited | shares	(34,000)
Options expired | shares	(167,000)
Ending balance | shares	3,642,000
Number of Options Outstanding, Exercisable ending balance | shares	3,544,000
Weighted- Average Exercise Price
Beginning balance | $ / shares	$ 3.58
Options exercised | $ / shares	1.28
Options forfeited | $ / shares	7.98
Options expired | $ / shares	5.32
Ending balance | $ / shares	3.47
Weighted- Average Exercise Price, Exercisable ending balance | $ / shares	$ 3.30
Weighted- Average Remaining Contractual Life (Years), Outstanding	4 years 7 months 6 days
Weighted- Average Remaining Contractual Life (Years), Exercisable	4 years 6 months
Aggregate Intrinsic Value, exercised | $	$ 9
Aggregate Intrinsic Value, Outstanding | $	1,827
Aggregate Intrinsic Value, Exercisable | $	$ 1,827