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Stock-Based Compensation - Additional Information (Details) - USD ($) |  |  | 12 Months Ended
--- | --- | --- | ---
May 20, 2021 | Oct. 07, 2016 | Dec. 31, 2023 | Dec. 31, 2022
Share-based Compensation |  |  |  |
Total grant date fair value of options vested |  |  | $ 2,000,000.0 | $ 1,300,000
Weighted-average grant date fair value of options granted |  |  | $ 3.85 | $ 5.40
Shares available for future issuance (in shares) |  |  | 598,397 | 689,472
Issuance of common stock under stock incentive plans and exercise of stock options |  |  | $ 1,198,000 | $ 889,000
Number of Options, Options granted |  |  | 8,000 |
Options remained outstanding |  |  | 1,829,428 | 1,994,726
Employee Stock Option |  |  |  |
Share-based Compensation |  |  |  |
Unrecognized stock-based compensation expense |  |  | $ 2,300,000 |
Unrecognized compensation expense, weighted-average period expected to be recognized |  |  | 1 year 8 months 12 days |
2016 Employee Incentive Plan |  |  |  |
Share-based Compensation |  |  |  |
Maximum number of common stock shares may be issued under the plan |  | 500,000 |  |
Annual increases in the number of shares available for issuance, percentage of outstanding capital stock |  | 3.00% |  |
Increase in number of shares reserved for issuance (in shares) | 550,000 |  |  |
Shares available for future issuance (in shares) |  |  | 598,397 |
Number of shares reserved and available for future issuance |  |  | 3,297,663 |
2008 Equity Incentive Plan |  |  |  |
Share-based Compensation |  |  |  |
Number of Options, Options granted |  |  | 0 |
Options remained outstanding |  |  | 35,943 |
ESPP |  |  |  |
Share-based Compensation |  |  |  |
Shares available for future issuance (in shares) |  |  | 890,161 |
Number of shares issued (in shares) |  |  | 87,718 | 77,221
Issuance of common stock under stock incentive plans and exercise of stock options |  |  | $ 394,000 | $ 342,000
Issuance of common stock under stock incentive plans and exercise of stock options (in shares) |  |  | 87,718 | 77,221

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