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Stock-Based Compensation Plans - Additional Information (Details) - USD ($)
 1 Months Ended 3 Months Ended 6 Months Ended 48 Months Ended
Mar. 04, 2024
Jan. 08, 2024
Jun. 28, 2023
Aug. 01, 2021
Apr. 25, 2021
Jul. 31, 2019
Jun. 30, 2024
Mar. 31, 2024
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2024
Jun. 30, 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                          
Repriced cost recognized over remaining term $ 1,200,000                          
Repricing cost during the period             $ 17,000       $ 1,000,000      
Expected dividend yield 0.00% 0.00%                 0.00%      
Stock based compensation expense related to stock options             1,882,000 $ 2,750,000 $ 1,798,000 $ 1,979,000        
General and administrative                            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                            
Share-based compensation expense             9,000       $ 600,000      
Research and development                            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                            
Share-based compensation expense             8,000       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) 1,200,000       200,000                  
Additional shares authorized (in shares) 1,000,000                          
Shares issued under the ESPP (in shares)       199,989                    
Share-based compensation expense             0   37,000   $ 0 $ 83,000    
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 12 days 5 years 11 months 26 days    
Expected dividend yield                     0.00% 0.00%    
Options granted in period, weighted-average grant date fair value (in USD per share)                     $ 0.98 $ 1.17    
Total unrecognized compensation expense             $ 11,900,000       $ 11,900,000      
Stock based compensation expense related to stock options                     $ 200,000      
Period over which compensation cost will be recognized (in years)                     2 years 10 months 17 days      
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)             0       0      
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