Stock-based Compensation - Schedule of Stock Options Outstanding and Exercisable (Details)	3 Months Ended
	Mar. 31, 2024 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	1,810,872
Options exercisable (in shares)	1,578,366
Exercise Price at $1.85
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 1.85
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 1.85
Options outstanding (in shares)	231,119
Options outstanding, weighted average remaining contractual life (years)	6 years 3 months 14 days
Options exercisable (in shares)	222,579
Exercise Price at $2.13
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 2.13
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 2.13
Options outstanding (in shares)	814,027
Options outstanding, weighted average remaining contractual life (years)	6 years 6 months 7 days
Options exercisable (in shares)	700,364
Exercise Price at $14.22
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 14.22
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 14.22
Options outstanding (in shares)	752,408
Options outstanding, weighted average remaining contractual life (years)	6 years 6 months
Options exercisable (in shares)	642,679
Exercise Price at $52.40
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 52.40
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 52.40
Options outstanding (in shares)	13,318
Options outstanding, weighted average remaining contractual life (years)	5 years 7 months 28 days
Options exercisable (in shares)	12,744