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Stock-based Compensation - Additional Information (Details) - USD ($) |  | 1 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Jan. 01, 2016 | Jan. 31, 2024 | Feb. 28, 2023 | Aug. 31, 2022 | Oct. 31, 2021 | Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Sep. 30, 2019 | Dec. 31, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock option expiration period |  |  |  |  |  | 10 years |  |  |  |  |
Aggregate intrinsic value of stock options exercised |  |  |  |  |  | $ 98,100 |  |  |  |  |
Unrecognized compensation expense, options granted |  |  |  |  |  | $ 5,500,000 |  |  |  |  |
Number of shares issued during period |  |  |  |  |  | 383,346 | 406,928 |  |  |  |
Employee Stock Option |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  |  |  | 2 years 1 month 17 days |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Estimated fair value of the shares on the date of grant |  |  |  |  |  | 85.00% |  |  |  |  |
Common stock, capital shares reserved for future issuance |  |  |  |  |  | 556,352 | 939,698 |  |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  |  |  | 5 months |  |  |  |  |
Plan maximum percentage of eligible compensation to purchase shares |  |  |  |  |  | 15.00% |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 300,000 | $ 300,000 |  |  |  |
Unrecognized stock-based compensation cost |  |  |  |  |  | 100,000 |  |  |  |  |
Time based RSUs |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense, options granted |  |  |  |  |  | $ 2,500,000 |  |  |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  |  |  | 1 year 10 months 28 days |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 1,500,000 | $ 2,000,000 |  |  |  |
Granted |  |  |  |  |  | 1,259,833 |  |  |  |  |
PSU's Awarded, Grant date fair value |  |  |  |  |  | $ 1,909,000 |  |  |  |  |
Performance based RSUs |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense, options granted |  |  |  |  |  | $ 2,300,000 |  |  |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  |  |  | 1 year 4 months 2 days |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  |  |  | $ 55,000 |  |  |
Granted |  |  | 760,000 | 250,000 | 435,000 | 810,000 |  |  |  |  |
PSU's Awarded, Grant date fair value |  |  | $ 1,900,000 | $ 400,000 | $ 2,300,000 | $ 1,226,000 |  |  |  |  |
2024 Performance based RSU |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Granted |  | 810,000 |  |  |  |  |  |  |  |  |
PSU's Awarded, Grant date fair value |  | $ 1,300,000 |  |  |  |  |  |  |  |  |
Share Based Compensation Award Tranche One | Performance based RSUs |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting rights, description |  |  |  |  | Vesting for 50% of the PSUs granted will occur upon achievement of certain specific milestones within one year of the grant date ("2021-Tranche-1") and the remaining 50% will vest upon achievement of additional company objectives within two years of the grant date ("2021-Tranche-2"). |  |  |  |  |  |
Share Based Compensation Award Tranche Two |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Options granted generally vest percent |  |  |  |  |  | 2.08% |  |  |  |  |
Share Based Compensation Award Tranche Two | Performance based RSUs |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting rights, description |  |  | Vesting for 50% of the PSUs granted will occur upon attaining certain specific milestones by December 2024 (“2023-Tranche-1”), and the remaining 50% will vest upon attaining certain specific milestones by December 2025 (“2023-Tranche-2”). | Vesting for 50% of the PSUs granted was set to occur upon attaining certain specific milestones by December 2023 (“2022-Tranche-1”), and the remaining 50% was set to vest upon attaining certain specific milestones by December 2024 (“2022-Tranche-2”). |  |  |  |  |  |  |
Share Based Compensation Award Tranche Two | 2024 Performance based RSU |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting rights, description |  | Vesting for 50% of the PSUs granted will occur upon attaining certain specific milestones by December 2025 (“2024-Tranche-1”), and the remaining 50% will vest upon attaining certain specific milestones by December 2026 (“2024-Tranche-2”). |  |  |  |  |  |  |  |  |
2015 Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock option expiration period |  |  |  |  |  | 10 years |  |  |  |  |
Employees holding voting rights of all classes of stock, percentage |  |  |  |  |  | 10.00% |  |  |  |  |
Common stock, capital shares reserved for future issuance |  |  |  |  |  | 2,319,648 | 2,944,245 |  |  |  | 2,444,735
Increase in number of shares available for issuance, as proportion of issued and outstanding shares of common stock, percentage | 4.00% |  |  |  |  |  |  |  |  |  |
2015 Plan | Share Based Compensation Award Tranche One |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Options granted generally vest period |  |  |  |  |  | 4 years |  |  |  |  |
Options granted generally vest percent |  |  |  |  |  | 25.00% |  |  |  |  |
2019 Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock, capital shares reserved for future issuance |  |  |  |  |  | 1,658,672 | 1,725,656 |  |  | 1,815,000 |
Increase in Common Stock Capital Shares Reserved For Future Issuance |  |  |  |  |  |  |  |  | 1,000,000 |  |
Tranche One | Performance based RSUs |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  |  | $ 128,000 | $ 1,000,000 |  |  |
Tranche Two | Performance based RSUs |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 77,000 | $ 106,000 |  |  |  |
Minimum | 2015 Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Estimated fair value of the shares on the date of grant |  |  |  |  |  | 110.00% |  |  |  |  |
Minimum | 2019 Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Estimated fair value of the shares on the date of grant |  |  |  |  |  | 100.00% |  |  |  |  |
Maximum | 2019 Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock option expiration period |  |  |  |  |  | 10 years |  |  |  |  |

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