Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation (Details) - Schedule of Common Stock at Vesting Aggregated

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Stock-Based Compensation (Details) - Schedule of Common Stock at Vesting Aggregated - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Schedule of Common Stock at Vesting Aggregated [Line Items]      
Total stock-based compensation expense $ 3,896 $ 3,333 $ 2,883
Employees [Member]      
Schedule of Common Stock at Vesting Aggregated [Line Items]      
Total stock-based compensation expense 3,345 2,689 1,758
Non-employees [Member]      
Schedule of Common Stock at Vesting Aggregated [Line Items]      
Total stock-based compensation expense $ 551 $ 644 $ 1,125