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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%