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Stock-Based Compensation Plans - Additional Information (Details) - USD ($)
 1 Months Ended 3 Months Ended 6 Months Ended 42 Months Ended
Jun. 28, 2023
Aug. 01, 2021
Apr. 25, 2021
Jul. 31, 2019
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Sep. 30, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Expected dividend yield             0.00%      
Total unrecognized compensation expense         $ 13,900,000   $ 13,900,000   $ 13,900,000  
Period over which compensation cost will be recognized, in years             2 years 10 months 17 days      
2021 Employee Stock Purchase Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Maximum annual contributions per employee (as a percent)     15.00%              
Purchase price of the stock, at discount from market price at purchase date (as a percent)     85.00%              
Shares available for grant (in shares)     200,000              
RSUs granted (in shares)   167,642                
Share-based compensation expense         37,000 $ 25,000 $ 83,000 $ 53,000    
2019 Omnibus Equity Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Shares available for grant (in shares)       1,500,000            
Expected term of options (years)             5 years 11 months 26 days 6 years    
Expected dividend yield             0.00% 0.00%    
Options granted in period, weighted-average grant date fair value (in USD per share)             $ 1.17 $ 7.25    
2019 Omnibus Equity Incentive Plan | Incentive stock options                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period (in years)             4 years      
2019 Omnibus Equity Incentive Plan | Minimum | Non-statutory options                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period (in years)             3 years      
2019 Omnibus Equity Incentive Plan | Maximum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Expected term of options (years)             10 years      
2019 Omnibus Equity Incentive Plan | Maximum | Non-statutory options                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period (in years)             4 years      
2019 Omnibus Equity Incentive Plan, Evergreen Provision                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Additional shares authorized (as a percent)       4.00%            
Additional shares authorized (in shares)       4,900,000         4,408,871  
Increase in other share (in shares) 4,440,000                  
2014 Equity Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Shares available for grant (in shares)           43,311   43,311    
2017 Inducement Equity Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Shares available for grant (in shares)                   46,250
Share-based compensation expense         $ 0 $ 0 $ 0 $ 0