Stockholders' Equity - Options Outstanding and Exercisable (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
OPTIONS OUTSTANDING
Number of Shares Outstanding (in shares) | shares	30,576
Weighted Average Remaining Contractual Life (in years)	8 years 8 months 12 days
Weighted Average Exercise Price (in dollars per share)	$ 5.60
OPTIONS EXERCISABLE
Number of Shares Exercisable (in shares) | shares	8,068
Weighted Average Remaining Contractual Life (in years)	8 years 3 months 18 days
Weighted Average Exercise Price (in dollars per share)	$ 7.53
Exercise price, range one
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of Exercise Prices, lower limit (in dollars per share)	3.04
Range of Exercise Prices, upper limit (in dollars per share)	$ 4.14
OPTIONS OUTSTANDING
Number of Shares Outstanding (in shares) | shares	7,142
Weighted Average Remaining Contractual Life (in years)	9 years 3 months 18 days
Weighted Average Exercise Price (in dollars per share)	$ 3.04
OPTIONS EXERCISABLE
Number of Shares Exercisable (in shares) | shares	0
Weighted Average Exercise Price (in dollars per share)	$ 0
Exercise price, range two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of Exercise Prices, lower limit (in dollars per share)	4.15
Range of Exercise Prices, upper limit (in dollars per share)	$ 5.73
OPTIONS OUTSTANDING
Number of Shares Outstanding (in shares) | shares	21,428
Weighted Average Remaining Contractual Life (in years)	8 years 8 months 12 days
Weighted Average Exercise Price (in dollars per share)	$ 5.25
OPTIONS EXERCISABLE
Number of Shares Exercisable (in shares) | shares	6,702
Weighted Average Remaining Contractual Life (in years)	8 years 8 months 12 days
Weighted Average Exercise Price (in dollars per share)	$ 5.25
Exercise price, range three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of Exercise Prices, lower limit (in dollars per share)	5.74
Range of Exercise Prices, upper limit (in dollars per share)	$ 13.48
OPTIONS OUTSTANDING
Number of Shares Outstanding (in shares) | shares	882
Weighted Average Remaining Contractual Life (in years)	7 years 2 months 12 days
Weighted Average Exercise Price (in dollars per share)	$ 8.34
OPTIONS EXERCISABLE
Number of Shares Exercisable (in shares) | shares	453
Weighted Average Remaining Contractual Life (in years)	6 years 8 months 12 days
Weighted Average Exercise Price (in dollars per share)	$ 9.26
Exercise price, range four
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of Exercise Prices, lower limit (in dollars per share)	13.49
Range of Exercise Prices, upper limit (in dollars per share)	$ 27.55
OPTIONS OUTSTANDING
Number of Shares Outstanding (in shares) | shares	661
Weighted Average Remaining Contractual Life (in years)	5 years 9 months 18 days
Weighted Average Exercise Price (in dollars per share)	$ 16.80
OPTIONS EXERCISABLE
Number of Shares Exercisable (in shares) | shares	661
Weighted Average Remaining Contractual Life (in years)	5 years 9 months 18 days
Weighted Average Exercise Price (in dollars per share)	$ 16.80
Exercise price, range five
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of Exercise Prices, lower limit (in dollars per share)	27.56
Range of Exercise Prices, upper limit (in dollars per share)	$ 59.78
OPTIONS OUTSTANDING
Number of Shares Outstanding (in shares) | shares	463
Weighted Average Remaining Contractual Life (in years)	7 years
Weighted Average Exercise Price (in dollars per share)	$ 39.91
OPTIONS EXERCISABLE
Number of Shares Exercisable (in shares) | shares	252
Weighted Average Remaining Contractual Life (in years)	6 years 9 months 18 days
Weighted Average Exercise Price (in dollars per share)	$ 40.68