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Stock-based Compensation Plans - Additional Information (Details) - USD ($) |  |  |  | 1 Months Ended | 12 Months Ended | 48 Months Ended |
--- | --- | --- | --- | --- | --- | --- | ---
Jun. 28, 2023 | Aug. 01, 2021 | Apr. 25, 2021 | Sep. 30, 2023 | Jul. 31, 2019 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2023 | Sep. 30, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expected dividend yield |  |  |  |  |  | 0.00% |  |  |
Total unrecognized compensation expense |  |  |  |  |  | $ 11,000,000 |  | $ 11,000,000 |
Period over which compensation cost will be recognized (in years) |  |  |  |  |  | 2 years 9 months 3 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 |  |  |  |  |  |
Shares issued under the ESPP (in shares) |  | 199,989 |  |  |  |  |  |  |
Share-based compensation expense |  |  |  |  |  | $ 120,000 | $ 96,000 |  |
2021 Employee stock purchase plan | Maximum |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Additional shares authorized (in shares) |  |  |  | 1,000,000 |  |  |  |  |
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) |  |  |  |  |  | 6 years | 6 years |  |
Expected dividend yield |  |  |  |  |  | 0.00% | 0.00% |  |
Weighted-average grant date fair value (in USD per share) |  |  |  |  |  | $ 1.31 | $ 6.81 |  |
2019 Omnibus Equity Incentive Plan | Incentive Employee Stock Option |  |  |  |  |  |  |  |  |
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 Employee Stock Option |  |  |  |  |  |  |  |  |
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 Employee Stock Option |  |  |  |  |  |  |  |  |
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, 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 |  |

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