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Stock Option Plan - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Jan. 01, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock reserved for future issuance (in shares) | 5,868,776 |  |
Employee options, weighted-average grant date fair value per share (in dollars per share) | $ 2.17 | $ 2.74 |
Intrinsic value of options exercised | $ 200 | $ 600 |
Common stock, fair value per share (in dollars per share) | $ 1.99 | $ 2.40 |
Stock-based compensation expense | $ 3,617 | $ 4,704 |
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock reserved for future issuance (in shares) | 986,819 |  |
Stock options, unrecognized compensation cost | $ 300 |  |
Stock options, cost not yet recognized, remaining weighted average vesting period | 9 months 18 days |  |
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% |  |
Common stock reserved for future issuance (in shares) | 449,332 |  |
Stock options, cost not yet recognized, remaining weighted average vesting period | 2 months 12 days |  |
Maximum Employee payroll deduction percentage | 20.00% |  |
Issuance of stock under Employee Stock Purchase Plan (in shares) | 129,593 |  |
Stock-based compensation expense | $ 100 | 100 |
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) |  |  | 170,460
Restricted stock units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock reserved for future issuance (in shares) | 1,387,459 |  |
Grant date fair value of RSUs vested | $ 600 | $ 700 |
Awards granted (in dollars per share) | $ 2.39 | $ 5.89 |
Stock options, unrecognized compensation cost | $ 4,400 |  |
Stock options, cost not yet recognized, remaining weighted average vesting period | 2 years 9 months 18 days |  |
Common stock, fair value per share (in dollars per share) | $ 4.24 | $ 7.28 |
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 |  |
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) |  |  | 681,838
2019 Incentive Award Plan | 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 | 4.00% |  |

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