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Stock-Based Compensation - Stock incentive plan and other information (Details) - USD ($)			12 Months Ended
	Sep. 05, 2019	Nov. 02, 2010	Dec. 31, 2023	Dec. 31, 2022	Oct. 31, 2023	Sep. 17, 2020	Mar. 20, 2007
Stock-Based Compensation and Warrants
Unrecognized stock-based compensation expense			$ 1,300,000
Proceeds from Stock Options Exercised			0	$ 0
Class Of Warrant Or Right Outstanding					0
General and Administrative Expenses and Research and Development Expense \| Employees
Stock-Based Compensation and Warrants
Allocated share-based compensation expense			$ 373,000	$ 260,000
Employees And Directors
Stock-Based Compensation and Warrants
Share-based payment award, options, grants in period, gross			2,195,000	1,728,000
Value of options granted			$ 900,000	$ 700,000
Consultant \| General and Administrative Expenses and Research and Development Expense
Stock-Based Compensation and Warrants
Allocated share-based compensation expense			$ 179,000	$ 215,000
2007 Stock Plan
Stock-Based Compensation and Warrants
Share-based payment award, options, outstanding, number			86				7,143
Share-based payment award, options, issued, number			86
2010 Stock Plan
Stock-Based Compensation and Warrants
Share-based payment award, options, outstanding, number		8,572
Share-based compensation arrangement by share-based payment award, number of shares authorized	400,000
Share-based compensation arrangement by share-based payment award, shares issued			0
2010 Stock Plan \| Board of Directors
Stock-Based Compensation and Warrants
Share-based payment award, options, outstanding, number			198,540
Share-based payment award, options, issued, number			198,540
2010 Stock Plan \| Minimum
Stock-Based Compensation and Warrants
Share-based payment award, options, grants, expired period		5 years
2010 Stock Plan \| Maximum
Stock-Based Compensation and Warrants
Share-based payment award, options, grants, expired period		10 years
2020 Stock Plan
Stock-Based Compensation and Warrants
Share-based payment award, options, outstanding, number			4,177,155			400,000
Share-based payment award, options, issued, number			4,177,155
Share-based compensation arrangement by share-based payment award, number of shares authorized				7,000,000