Quarterly report pursuant to Section 13 or 15(d)

Stock-based Compensation, Stock Option Plan Activity (Details)

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Stock-based Compensation, Stock Option Plan Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jan. 01, 2024
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Nov. 01, 2023
Nov. 30, 2020
Dec. 31, 2019
Stock Options [Abstract]                  
Stock based compensation   $ 806 $ 1,422 $ 1,791 $ 2,226        
Inducement Plan [Member]                  
Stock Options [Abstract]                  
Common stock reserved for issuance (in shares)             2,325,258    
2020 Equity Incentive Plan [Member]                  
Stock Options [Abstract]                  
Common stock reserved for issuance (in shares)               1,000,000  
Percentage of common stock shares outstanding       5.00%          
2020 Equity Incentive Plan [Member] | Minimum [Member]                  
Stock Options [Abstract]                  
Vesting period       1 year          
2020 Equity Incentive Plan [Member] | Maximum [Member]                  
Stock Options [Abstract]                  
Common stock reserved for issuance (in shares)               70,325  
Period of shares reserved under plan       10 years          
Vesting period       4 years          
2018 Equity Incentive Plan [Member]                  
Stock Options [Abstract]                  
Common stock reserved for issuance (in shares)   0   0         1,175,000
2018 Equity Incentive Plan [Member] | Minimum [Member]                  
Stock Options [Abstract]                  
Vesting period       5 months          
2018 Equity Incentive Plan [Member] | Maximum [Member]                  
Stock Options [Abstract]                  
Vesting period       48 months          
2020 Plan Evergreen Provision [Member]                  
Stock Options [Abstract]                  
Number of shares added (in shares) 1,198,875                
Stock Options [Member] | Former Chief Executive Officer [Member]                  
Stock Options [Abstract]                  
Stock based compensation         $ 400        
Stock Options [Member] | 2018 Equity Incentive Plan [Member]                  
Stock Options [Abstract]                  
Granted (in shares)   259,086 98,195 1,021,166 763,578        
Stock based compensation   $ 510 $ 1,186 $ 957 $ 1,686        
Stock option exercised (in shares)   0 0 0 0        
Number of shares outstanding (in shares)   4,962,489   4,962,489   4,410,258      
Weighted average fair value per share of options granted (in dollars per share)   $ 1.35 $ 3.36 $ 1.95 $ 2.83