Post-effective amendment to a registration statement that is not immediately effective upon filing

Share-Based Compensation (Details) - Schedule of stock option activity

v3.23.1
Share-Based Compensation (Details) - Schedule of stock option activity - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Schedule Of Stock Option Activity Abstract      
Stock Options Outstanding, beginning balance 784,193   896,888
Weighted-Average Exercise Price Outstanding, beginning balance $ 5.91   $ 5.22
Weighted-Average Remaining Contractual Term (Years) Outstanding, term, beginning balance     3 years 11 months 15 days
Aggregate Intrinsic Value, Outstanding, beginning balance     $ 2,889
Stock Options Outstanding, ending balance 410,477 784,193  
Weighted-Average Exercise Price Outstanding, ending balance $ 7.15 $ 5.91  
Weighted-Average Remaining Contractual Term (Years) Outstanding, term, ending 2 years 6 months 21 days 3 years 8 months 4 days  
Stock Options, Vested and expected to vest 399,944    
Weighted-Average Exercise Price, Vested and expected to vest $ 7.07    
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest 2 years 6 months 29 days    
Stock Options, Vested and exercisable 306,575    
Weighted-Average Exercise Price, Vested and exercisable $ 6.75    
Weighted-Average Remaining Contractual Term (Years, Vested and exercisable 2 years 1 month 2 days    
Stock Options, Granted   23,114 64,736
Weighted-Average Exercise Price, Granted   $ 2.16 $ 13.81
Weighted-Average Remaining Contractual Term (Years), Granted   7 years 18 days 9 years 2 months 23 days
Stock Options, Exercised   (158,882) (40,942)
Weighted-Average Exercise Price, Exercised   $ 0.24 $ 0.24
Aggregate Intrinsic Value, Exercised   $ 130 $ 434
Stock Options, Forfeited   (60,789) (46,830)
Weighted-Average Exercise, Forfeited   $ 7.53 $ 10.65
Stock Options, Expired   (177,159) (89,659)
Weighted-Average Exercise Price, Expired   $ 6.34 $ 9.43