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Stock Option Plan - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Jan. 01, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Employee options, weighted-average grant date fair value per share (in dollars per share) $ 2.74 $ 8.83  
Common stock, fair value per share (in dollars per share) $ 2.40 $ 11.63  
Intrinsic value of options exercised $ 600 $ 100  
Stock options, unrecognized compensation cost $ 1,800    
Stock options, cost not yet recognized, remaining weighted average vesting period 1 year 1 month 6 days    
Stock-based compensation expense $ 4,704 4,728  
Employee stock purchase plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Annual percentage increase in shares available for issuance under the Plan 1.00%    
Maximum Employee payroll deduction percentage 20.00%    
Stock options, cost not yet recognized, remaining weighted average vesting period 2 months 12 days    
Stock-based compensation expense $ 100 $ 200  
Unrecognized compensation cost related to stock purchase $ 100    
Employee stock purchase plan | Subsequent Event      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Increase (decrease) in number of shares authorized (in shares)     165,500
Restricted stock units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Common stock, fair value per share (in dollars per share) $ 7.28 $ 16.54  
Grant date fair value of RSUs vested $ 700    
Vested (in shares)   0  
Awards granted (in dollars per share) $ 5.89 $ 16.53  
Stock options, unrecognized compensation cost $ 6,000    
Stock options, cost not yet recognized, remaining weighted average vesting period 3 years 3 months 18 days    
2019 Incentive Award Plan | Stock options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock options, expiration period 10 years    
Stock options, vesting period 4 years    
Annual percentage increase in shares available for issuance under the Plan 4.00%    
Shares that remain available for future awards 1,452,435    
2019 Incentive Award Plan | Stock options | Subsequent Event      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Increase (decrease) in number of shares authorized (in shares)     661,999