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Stock Plan - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  | 9 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Aug. 13, 2024 | Jan. 18, 2024 | Sep. 09, 2022 | Sep. 30, 2024 | Sep. 30, 2023 | Jul. 16, 2024 | Jan. 01, 2024 | Dec. 31, 2023 | Sep. 24, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  |  |  | 514,434 |  |
Restricted stock units granted to employees |  |  |  | 952,665 |  |  |  |  |
Total compensation cost related to nonvested awards not yet recognized |  |  |  | $ 14,534 |  |  |  |  |
Aggregrate Shares |  |  |  | 5,329,431 |  |  |  | 4,474,411 |
Granted options at an exercise price |  |  |  | $ 1.64 |  |  |  |  |
Unrecognized compensation cost, weighted average period of recognition |  |  |  | 3 years 4 months 24 days |  |  |  |  |
Dividend yield |  |  |  | 0.00% | 0.00% |  |  |  |
Option Exchange |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total compensation cost related to nonvested awards not yet recognized | $ 1,370 |  |  |  |  |  |  |  |
Aggregrate Shares | 2,786,691 |  |  |  |  | 2,820,491 |  |  |
Granted options at an exercise price | $ 1.48 |  |  |  |  |  |  |  |
Option Exchange | Minimum |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized compensation cost, weighted average period of recognition | 3 years |  |  |  |  |  |  |  |
Option Exchange | Maximum |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized compensation cost, weighted average period of recognition | 4 years |  |  |  |  |  |  |  |
Restricted stock units |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Restricted stock units granted to employees |  | 952,665 | 374,899 |  |  |  |  |  |
Unrecognized compensation cost, weighted average period of recognition |  |  |  | 9 months 18 days |  |  |  |  |
Unrecognized compensation cost |  |  |  | $ 845 |  |  |  |  |
2020 Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  |  |  |  |  | 4,406,374
Number of additional shares reserved for issuance, minimum |  |  |  |  |  |  |  |  | 4,406,374
Percentage of number of shares of common stock outstanding increase |  |  |  |  |  |  |  |  | 5.00%
Number of additional shares reserved for issuance, maximum |  |  |  |  |  |  | 2,572,174 |  |
Shares issued |  |  |  | 5,329,431 |  |  |  |  |
2020 Plan | Option Exchange |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Aggregrate Shares | 2,786,691 |  |  |  |  |  |  |  |
2020 Plan | Restricted stock units |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Vesting period on an annual basis |  | 1 year 6 months | 2 years |  |  |  |  |  |
2020 ESPP |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  | 1,136,410 |  |  |  |  | 400,752
Percentage of number of shares of common stock outstanding increase |  |  |  |  |  |  |  |  | 1.00%
Number of additional shares reserved for issuance, maximum |  |  |  |  |  |  |  |  | 801,504
Shares issued |  |  |  | 275,497 |  |  |  |  |
Shares outstanding |  |  |  | 275,497 |  |  |  |  |

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