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Stock-based Compensation - Narrative (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Jan. 31, 2024 | Jun. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023 | Aug. 31, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | $ 2,708,000 | $ 2,283,000 | $ 10,561,000 | $ 7,808,000 |
Selling, general and administrative |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | $ 1,925,000 | 1,773,000 | 8,101,000 | 5,558,000 |
Stock-based compensation expense |  |  |  |  | $ 2,000,000 |  |
2024 Inducement Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares authorized (in shares) |  |  |  |  |  |  | 1,000,000
ESPP |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Consecutive offering period |  | 24 months |  |  |  |  |
Purchase price of common stock |  | 85.00% |  |  |  |  |
Fixed contribution rate |  | $ 25,000 |  |  |  |  |
Number of shares authorized (in shares) |  | 2,000,000 |  |  |  |  |
Share-based compensation arrangement by share-based payment award, shares issued in period (in shares) |  |  | 0 |  | 123,889 |  |
Common stock, capital shares reserved for future issuance (in shares) |  |  | 1,876,111 |  | 1,876,111 |  |
Share-based payment arrangement, noncash expense |  |  | $ 93,000 | 0 | $ 242,000 | 0 |
Share-based payment arrangement, nonvested award, cost not yet recognized, amount |  |  | 600,000 |  | 600,000 |  |
Stock Options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | 1,506,000 | 1,017,000 | $ 5,137,000 | 3,035,000 |
Expiration period |  |  |  |  | 10 years |  |
Award vesting period | 3 years |  |  |  | 4 years |  |
Compensation not yet recognized, stock options |  |  | 12,000,000.0 |  | $ 12,000,000.0 |  |
Stock Options | Tranche One |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Award vesting period | 1 year |  |  |  | 1 year |  |
Award vesting rights | 33.00% |  |  |  | 25.00% |  |
Stock Options | Tranche Two |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Award vesting period | 2 years |  |  |  | 3 years |  |
Award vesting rights | 67.00% |  |  |  | 75.00% |  |
RSUs |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Award vesting rights |  |  |  |  | 33.00% |  |
RSAs and RSUs |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | 1,109,000 | $ 942,000 | $ 3,578,000 | $ 3,441,000 |
Compensation not yet recognized, share-based awards other than options |  |  | $ 5,000,000.0 |  | $ 5,000,000.0 |  |

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