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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 3 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Jul. 31, 2020 | Mar. 31, 2024 | Mar. 31, 2023 | Feb. 29, 2024 | Dec. 31, 2023 | Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Weighted average grant date fair value of options granted |  | $ 2.38 |  |  |  |
Total fair value of options vested |  | $ 540 |  |  |  |
Total unrecognized compensation expense |  | $ 2,006 |  |  |  |
Total unrecognized compensation expense, weighted-average period of recognition |  | 2 years |  |  |  |
Dividends |  | 0.00% | 0.00% |  |  |
Common stock, shares authorized |  | 150,000,000 |  |  | 150,000,000 |
2020 Employee Stock Purchase Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Common stock reserved |  | 260,000 |  |  |  |
Percentage of outstanding shares of common stock |  | 1.00% |  |  |  |
Exercise price of option on fair value (as a percent) |  | 85.00% |  |  |  |
Common stock, shares authorized |  | 564,000 |  |  |  | 340,000
Shares of common stock have been issued to employees |  | 304,000 |  |  |  |
Incentive Stock Options | Share-based Payment Arrangement, Tranche Two |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Award vesting percentage |  | 10.00% |  |  |  |
Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Total unrecognized compensation expense |  | $ 656 |  |  |  |
Total unrecognized compensation expense, weighted-average period of recognition |  | 10 months 24 days |  |  |  |
Total fair value of restricted stock awards vested |  | $ 274 |  |  |  |
Minimum | Incentive Stock Options And Nonqualified Stock Options |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  | 1 year |  |  |  |
Minimum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Exercise price of option on fair value (as a percent) |  | 100.00% |  |  |  |
Minimum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Exercise price of option on fair value (as a percent) |  | 110.00% |  |  |  |
Minimum | Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  | 1 year |  |  |  |
Maximum | Incentive Stock Options And Nonqualified Stock Options |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Term of contract |  | 10 years |  |  |  |
Vesting period |  | 4 years |  |  |  |
Maximum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Term of contract |  | 10 years |  |  |  |
Maximum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Term of contract |  | 5 years |  |  |  |
Maximum | Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  | 4 years |  |  |  |
2020 Incentive Award Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Common stock reserved | 3,333,000 | 5,550,000 |  |  |  |
Percentage of outstanding shares of common stock | 5.00% |  |  |  |  |
Inducement Plan | Maximum |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Common stock reserved |  |  |  | 100,000 |  |

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