Equity Incentive Plans and Stock-Based Compensation, Restricted Stock Units (Details) - Restricted Stock Units [Member] - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Restricted Stock Units [Roll Forward]
Outstanding, beginning balance (in shares)	287,916
Granted (in shares)	243,295
Vested (in shares)	(102,634)
Forfeited (in shares)	(227,677)
Outstanding, ending balance (in shares)	200,900
Weighted-Average Grant Date Fair Value [Abstract]
Outstanding, beginning balance (in dollars per share)	$ 14.71
Granted (in dollars per share)	6.07
Vested (in dollars per share)	12.07
Forfeited (in dollars per share)	8.56
Outstanding, ending balance (in dollars per share)	$ 12.57
Aggregate Intrinsic Value [Abstract]
Outstanding amount	$ 476	$ 1,756