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Stock Based Compensation - Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Mar. 31, 2024 | Mar. 31, 2023 | Jun. 30, 2024
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock options vested and expected to vest aggregate intrinsic value | $ 1,552,000 |  |  | $ 1,552,000
Proceeds from stock issued during period |  | $ 76,000 | $ 137,000 |
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% |  |  | 20.00%
Percentage of discount and fair value of option |  |  |  | 15.00%
Proceeds from stock issued during period | $ 0 |  |  | $ 100,000
Employee Stock Purchase Plan shares |  |  |  | 22,852
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%
Employee Stock Option |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted average grant-date fair value of options granted |  |  |  | $ 2.82
Stock options vested and expected to vest aggregate intrinsic value | 1,600,000 |  |  | $ 1,600,000
Total unrecognized compensation cost, period for recognition |  |  |  | 2 years 6 months
Total unrecognized compensation cost | 2,400,000 |  |  | $ 2,400,000
Restricted Stock Unit (RSU) |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted average remaining contractual term |  |  |  | 2 years 9 months 18 days
Total unrecognized compensation cost | 4,200,000 |  |  | $ 4,200,000
Performance stock unit (PSU) |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted average remaining contractual term |  |  |  | 9 months 18 days
Total unrecognized compensation cost | $ 10,693 |  |  | $ 10,693
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.

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