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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
Mar. 14, 2024 | Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023
Stock Options [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Stock-based compensation expense |  | $ 0.7 | $ 0.9 | $ 2.7 | $ 2.8
Unrecognized stock-based compensation expense |  | $ 4.6 |  | $ 4.6 |
Weighted-average recognition period |  |  |  | 2 years 10 months 24 days |
Number of shares vested and unvested stock options outstanding |  | 3,694,948 |  | 3,694,948 |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Stock-based compensation expense |  | $ 0.1 | $ 0.1 | $ 0.2 | $ 0.2
Unrecognized stock-based compensation expense |  | $ 0.4 |  | $ 0.4 |
Weighted-average recognition period |  |  |  | 1 year 7 months 13 days |
2021 Employee Stock Purchase Plan [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Discount from market price, offering date |  |  |  | 85.00% |
Discount from market price, purchase date |  |  |  | 85.00% |
Offering and Purchased Shares |  | 0 | 0 | 54,314 | 82,034
Stock-based compensation expense |  |  | $ 0.1 |  | $ 0.1
Repricing of Outstanding and Unexercised Options [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Incremental stock-based compensation expense | $ 0.9 |  |  |  |
New excercise price | $ 2.97 |  |  |  |
Number of shares vested and unvested stock options outstanding | 1,631,016 |  |  |  |
Exercise prices original low | $ 3.02 |  |  |  |
Exercise prices original high | $ 27.49 |  |  |  |
Vested stock option awards expensed repricing | $ 0.5 |  |  |  |
Unvested stock option awards unrecognized expense repricing | $ 0.4 |  |  |  |
Weighted average vesting period terms repricing | 2 years 4 months 17 days |  |  |  |

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