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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