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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