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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  | 12 Months Ended |
--- | --- | --- | ---
Feb. 05, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Aug. 25, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted-average grant-date fair value of stock options granted |  | $ 3.56 | $ 7.10 |
Unrecognized compensation expense related to stock options |  | $ 14.0 |  |
Unrecognized share based compensation expense, recognition period |  | 2 years 3 months 18 days |  |
Intrinsic value of stock options exercised |  | $ 0.1 |  |
Number unvested options |  | 10,299 | 83,459 |
Weighted average exercise price of options exercised and unvested |  | $ 4.90 | $ 2.23 |
Proceeds from unvested options exercises |  |  | $ 0.2 |
Maximum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Proceeds from unvested options exercises |  | $ 0.1 |  |
Employee Stock Purchase Plan 2021 |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Shares reserved for issuance increase percentage of total number of shares of common stock outstanding | 1.00% |  |  |
SharebasedCompensationArrangementBySharebasedPaymentAwardPurchasePriceOfCommonStockPercent | 85.00% |  |  |
Number of common stock reserved for issuance | 1,800,000 |  |  |
Number of shares issued |  | 82,703 | 34,242 |
Weighted average purchase price |  | $ 2.73 | $ 3.41 |
Employee Stock Purchase Plan 2021 | Common Stock |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares available for future issuance |  | 1,289,604 |  |
Employee Stock Option |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Vesting rights description |  | vest over 48 months with 25% vesting after one year followed by ratable monthly vesting over three years |  |
Vesting period |  | 48 months |  |
Contractual term |  | 10 years |  |
Weighted-average grant-date fair value of stock options granted |  | $ 4.94 | $ 4.78 |
Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Unrecognized compensation expense related to related to restricted stock units |  | $ 4.6 |  |
Unrecognized share based compensation expense, recognition period |  | 2 years 2 months 12 days |  |
Number of units outstanding |  | 1,113,381 | 1,430,200 |
Tranche One | Employee Stock Option |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Vesting period |  | 1 year |  |
Vesting percentage |  | 25.00% |  |
Tranche Two | Employee Stock Option |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
2015 Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares available for future issuance | 0 |  |  |
2021 Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares available for future issuance |  | 1,270,867 |  |
Shares reserved for issuance increase percentage of total number of shares of common stock outstanding | 4.00% |  |  |
2021 Plan | Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of units outstanding |  | 1,113,381 |  |
2023 Inducement Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares available for future issuance |  | 3,263,436 |  | 3,500,000

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