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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