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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Date the equity-based award expires, in YYYY-MM-DD format.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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Number of grantees affected by modification of award under share-based payment arrangement.

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Number of shares issued under share-based payment arrangement.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Percentage of vesting of award under share-based payment arrangement.

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Share-Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands			3 Months Ended		9 Months Ended
	Jun. 24, 2023 $ / shares shares	Jun. 23, 2023 ShareHolder shares	Sep. 30, 2023 USD ($) shares	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) $ / shares shares	Sep. 30, 2022 USD ($)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock remained available for future issuance			772,663		772,663
Stock compensation expense \| $			$ 954	$ 1,170	$ 4,292	$ 3,884
Number of shares reserved for issuance			309,012		309,012
Shares issued					437,135
Exercise price of options granted \| $ / shares					$ 1.85
Description of offering period under plan					ESPP provides for successive six-month offering periods beginning on September 1st and March 1st of each year.
Stock Option Exchange Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration date		Jul. 24, 2023
Number of eligible holders elected to exchange \| ShareHolder		83
Percentage of shares of common stock underlying eligible options		99.00%
Shares issued		757,595
Options and Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining unrecognized share based compensation expense for options and restricted stock units \| $			$ 6,600		$ 6,600
Amortized to expense period					2 years 8 months 12 days
Bonus-To-Options Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock compensation expense \| $			$ 200	$ 700	$ 200	$ 700
Exercise price of options granted \| $ / shares					$ 2
2020 Equity Incentive Plan \| Stock Option Exchange Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued	156,868
Exercise price of options granted \| $ / shares	$ 1.2