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Stock-based Compensation - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Apr. 30, 2025
Apr. 30, 2023
Jun. 30, 2025
Jun. 30, 2024
Jun. 30, 2025
Jun. 30, 2024
Mar. 31, 2025
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based payment arrangement, noncash expense     $ 2,532,000 $ 4,682,000 $ 4,911,000 $ 7,853,000  
2019 Amended Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of additional shares authorized (in shares) 8,000,000            
Number of shares authorized (in shares) 23,897,144           15,897,144
Selling, general and administrative              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based payment arrangement, noncash expense     $ 1,751,000 3,940,000 $ 3,404,000 6,176,000  
Stock-based compensation expense       $ 2,000,000   $ 2,000,000  
ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized (in shares)   2,000,000          
Consecutive offering period   24 months          
Purchase price of common stock   85.00%          
Fixed contribution rate   $ 25,000          
Share-based compensation arrangement by share-based payment award, shares issued in period (in shares)     151,490 123,889 151,490 123,889  
Common stock, capital shares reserved for future issuance (in shares)     1,585,353   1,585,353    
Share-based payment arrangement, noncash expense     $ 118,000 $ 72,000 $ 223,000 $ 149,000  
Share-based payment arrangement, nonvested award, cost not yet recognized, amount     1,000,000.0   1,000,000.0    
Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based payment arrangement, noncash expense     1,478,000 2,117,000 2,833,000 3,631,000  
Compensation not yet recognized, stock options     11,100,000   11,100,000    
RSAs and RSUs              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based payment arrangement, noncash expense     936,000 $ 1,152,000 1,855,000 $ 2,469,000  
Compensation not yet recognized, share-based awards other than options     $ 6,300,000   $ 6,300,000