Stock Based Compensation - Additional Information (Details)	9 Months Ended
Sep. 30, 2023 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options vested and expected to vest aggregate intrinsic value	$ 281,000
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Offering period of employee stock purchase plan	6 months
Limited percentage of annual contribution	20.00%
Percentage of discount and fair value of option	15.00%
Proceeds from stock issued during period	$ 200,000
Number of stock issued during period \| shares	38,400
Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price percentage of market value of common stock	85.00%
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average grant-date fair value of options granted \| $ / shares	$ 2.84
Stock options vested and expected to vest aggregate intrinsic value	$ 300,000
Total unrecognized compensation cost, period for recognition	2 years 6 months
Total unrecognized compensation cost	$ 2,300,000
Restricted Stock Unit (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average remaining contractual term	3 years
Total unrecognized compensation cost	$ 3,900,000
Performance stock unit (PSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average remaining contractual term	1 year 6 months
Total unrecognized compensation cost	$ 100,000
Description of performance stock unit	Service as well as market and performance conditions determine the number of PSUs that the holder will earn from 0% to 150% of the target number of shares. The percentage received is based on the Company common stock price targets over a three-year service period. Additionally, the Company must achieve or exceed 75% of the year to date revenue target measured at the end of the quarter in which the price target is achieved.
Share-Settled Obligation
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Debt conversion converted amount	$ 900,000
Shares granted upon settlement of debt	$ 187,200,000

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