Stock-based Compensation - Additional Information (Details) $ in Millions	9 Months Ended
Sep. 30, 2023 USD ($) shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares to be issued (in shares)	68,422
Stock option contractual term	10 years
Stock option vesting percentage	25.00%
Total unamortized compensation cost related to outstanding unvested stock options and restricted stock awards \| $	$ 0.8
Weighted average period for recognition of cost	1 year 11 months 12 days
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting period	2 years
Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting period	4 years
2015 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Securities remaining and available for future issuances (in shares)	6,023
2020 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Securities remaining and available for future issuances (in shares)	179,640
Common stock shares to be issued (in shares)	236,666

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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