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Stock Option Plan - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Intrinsic value   $ 0.2
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock options, unrecognized compensation cost $ 0.1  
Stock options, cost not yet recognized, remaining weighted average vesting period 6 months 10 days  
Granted (in shares) 0 0
Stock options | 2019 Incentive Award Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock options, expiration period 10 years  
Stock options, vesting period 4 years  
Shares authorized, percentage 4.00%  
Shares that remain available for future awards (in shares) 1,959,901  
Restricted stock units    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock options, vesting period 4 years  
Aggregate intrinsic value, vested $ 0.4 $ 0.3
Awards granted (in dollars per share) $ 1.95 $ 2.30
Stock options, unrecognized compensation cost $ 4.6  
Stock options, cost not yet recognized, remaining weighted average vesting period 3 years 2 months 12 days  
Employee stock purchase plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares authorized, percentage 1.00%  
Shares that remain available for future awards (in shares) 565,187  
Maximum employee payroll deduction percentage 20.00%