Quarterly report pursuant to Section 13 or 15(d)

Stock-based Compensation, Restricted Stock Units (Details)

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Stock-based Compensation, Restricted Stock Units (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Restricted Stock Units [Abstract]        
Stock based compensation $ 806 $ 1,422 $ 1,791 $ 2,226
Restricted Stock Units [Member]        
Restricted Stock Units [Abstract]        
Vested (in shares) 104,880   144,162  
Forfeited (in shares) 0   82,670  
Stock based compensation $ 296 $ 208 $ 589 $ 265
Restricted Stock Units [Member] | Former Chief Executive Officer [Member]        
Restricted Stock Units [Abstract]        
Vested (in shares)   33,614   33,614
Forfeited (in shares)   100,842   100,842
Restricted Stock Units [Member] | 2020 Equity Incentive Plan [Member]        
Restricted Stock Units [Abstract]        
Granted (in shares) 278,858 124,880 592,222 416,464
Weighted average grant date fair value of RSUs granted (in dollars per share) $ 1.73 $ 5.09 $ 2.24 $ 3.98
Vesting period     1 year  
Restricted Stock Units [Member] | 2020 Equity Incentive Plan [Member] | Maximum [Member]        
Restricted Stock Units [Abstract]        
Vesting period     4 years  
Restricted Stock Units [Member] | 2020 Equity Incentive Plan [Member] | Vesting Annually [Member]        
Restricted Stock Units [Abstract]        
Vesting percentage     25.00% 25.00%