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Stock-based Compensation - Narrative (Details) | 1 Months Ended | 3 Months Ended | 6 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Apr. 30, 2021 shares | Jun. 30, 2024 USD ($) $ / shares shares | Jun. 30, 2023 USD ($) $ / shares | Jun. 30, 2024 USD ($) $ / shares shares | Jun. 30, 2023 USD ($) $ / shares shares | Dec. 31, 2022 $ / shares shares | Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Total stock-based compensation | $ |  | $ 2,602,000 | $ 1,930,000 | $ 4,907,000 | $ 4,038,000 |  |
Weighted-average grant date fair value of awards (in usd per share) | $ / shares |  | $ 3.68 | $ 2.24 | $ 3.60 | $ 1.55 |  |
Aggregate intrinsic fair value of options exercised | $ |  | $ 0 | $ 0 | $ 0 | $ 0 |  |
Share-based compensation expense not yet recognized (less than) | $ |  | 12,400,000 |  | $ 12,400,000 |  |  |
Unvested RSAs | 2017 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Granted (in shares) |  |  |  | 0 |  |  |
Share-based compensation expense not yet recognized, excluding option | $ |  | 0 |  | $ 0 |  |  |
Aggregate fair value of awards that vested | $ |  |  | 100,000 |  | 200,000 |  |
Shares reserved for vesting of restricted stock units | 2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Granted (in shares) |  |  |  | 0 |  |  |
Share-based compensation expense not yet recognized, excluding option | $ |  | 200,000 |  | $ 200,000 |  |  |
Aggregate fair value of awards that vested | $ |  | $ 700,000 | 0 | $ 700,000 | 0 |  |
Share-based compensation not yet recognized, recognition period |  |  |  | 4 months 24 days |  |  |
Weighted Average Grant Date Fair Value - Granted (in usd per share) | $ / shares |  |  |  | $ 0 |  |  |
Vested (in shares) |  |  |  | 211,500 |  |  |
Performance Shares |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Granted (in shares) |  | 0 |  | 0 |  | 883,352 |
Weighted Average Grant Date Fair Value - Granted (in usd per share) | $ / shares |  |  |  |  |  | $ 3.36 |
Vested (in shares) |  |  |  | 0 |  |  |
Total stock-based compensation | $ |  |  | $ 0 |  | $ 0 |  |
Shares reserved for future issuance under the 2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Share-based compensation not yet recognized, recognition period |  |  |  | 2 years 6 months |  |  |
2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Maximum number of shares to be added annually, as a percentage of outstanding shares (percent) | 5.00% |  |  |  |  |  |
2021 Stock Incentive Plan | Unvested RSAs |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (in shares) | 477,725 |  |  |  |  |  |
2021 Stock Employee Stock Purchase Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Offering period |  |  |  |  |  |  | 6 months
Purchase period |  |  |  |  |  |  | 6 months
ESPP purchase price, percent |  |  |  |  |  |  | 0.85
Common Stock |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (in shares) | 3,352,725 |  |  |  |  |  |
Common Stock | 2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (in shares) | 2,843,116 |  |  |  |  |  |
Maximum number of shares to be added annually, as a percentage of outstanding shares (in shares) |  |  |  | 4,911,502 |  |  |
Common Stock | 2017 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (in shares) | 31,884 |  |  |  |  |  |
Common Stock | 2021 Stock Employee Stock Purchase Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Shares purchased by employees (in shares) |  |  |  | 35,180 | 28,739 |  |

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