Stock-based Compensation - Additional Information (Details) $ in Millions	3 Months Ended
Mar. 31, 2024 USD ($) shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares to be issued (in shares)	163,025
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	2 years 3 months 18 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)	6,024
2020 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Securities remaining and available for future issuances (in shares)	17,582
Common stock shares to be issued (in shares)	236,667

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

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