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Stock-Based Compensation Plans - Additional Information (Details) - USD ($)						1 Months Ended		3 Months Ended		48 Months Ended
	Mar. 04, 2024	Jan. 08, 2024	Jun. 28, 2023	Aug. 01, 2021	Apr. 25, 2021	Sep. 30, 2023	Jul. 31, 2019	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Sep. 30, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options repriced (in shares)	3,317,596
Stock-based compensation, exercise price (in dollars per share)	$ 1.72
Share-based payment arrangement								$ 1,200,000
Recognized amount								$ 900,000
Expected dividend yield	0.00%	0.00%						0.00%
Weight average fair value repriced stock options (in USD per share)								$ 1.22
Stock based compensation expense related to stock options								$ 2,750,000	$ 1,979,000
General and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense								600,000
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense								300,000
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term of options (years)	4 years 7 months 28 days	4 years 9 months 21 days
Exercise price of warrants (in USD per share)	$ 3.00
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term of options (years)	1 year 7 months 28 days	1 year 9 months 21 days
Exercise price of warrants (in USD per share)	$ 1.72
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								$ 0	$ 46,000
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 7 days	6 years 7 days
Expected dividend yield								0.00%	0.00%
Options granted in period, weighted-average grant date fair value (in USD per share)								$ 0.97	$ 1.15
Total unrecognized compensation expense								$ 13,500,000
Stock based compensation expense related to stock options								$ 300,000
Period over which compensation cost will be recognized, in years								3 years 2 months 1 day
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 | 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 | 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, Evergreen Provision
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Additional shares authorized (in shares)							4,900,000			4,408,871
Additional shares authorized, percent							4.00%
Increase in other share (in shares)	9,100,000		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
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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