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Stock Options, Restricted Stock and Stock-Based Compensation - Additional Information (Details) - USD ($) | 3 Months Ended |  |
--- | --- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023 | Jul. 14, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock reserved for future issuance | 16,969,486 |  | 15,952,814 |
Number of shares available for grant | 2,042,216 |  |  |
Stock options exercised | 146,964 |  |  |
Intrinsic value of stock options vested | $ 0 | $ 0 |  |
Unrecognized compensation cost related to unvested stock options | $ 4,400,000 |  |  |
Stock-based awards are expected to be recognized over a weighted average period | 2 years 3 months 18 days |  |  |
Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Aggregate fair value of awards that vested | $ 0 | $ 0 |  |
2015 Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Share-based compensation arrangement by share-based payment award, award vesting period | 4 years |  |  |
Share-based compensation arrangement by share-based payment award, expiration period | 10 years |  |  |
Number of shares available for grant | 0 |  |  |
Stock options exercised | 306,518 |  |  |
Exercise price per share | $ 1.46 |  |  |
Common stock held by option holder in consideration of aggregate exercise price | 122,608 |  |  |
2021 Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock reserved for future issuance |  |  |  | 6,645,259

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