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Stock-Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands				3 Months Ended
	Jan. 01, 2023 shares	Jan. 01, 2021	Oct. 14, 2020 USD ($) shares	Mar. 31, 2023 USD ($) tranch $ / shares shares	Mar. 31, 2022 USD ($) $ / shares shares	Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Grant date fair value (in dollars per share) | $ / shares				$ 2.46	$ 5.13
Unrecognized compensation cost				$ 14,100
Intrinsic value of options exercised				100	$ 100
Aggregate intrinsic value of options exercisable				200
Aggregate intrinsic value of options outstanding				200
Total stock-based compensation				$ 1,683	$ 1,513
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average amortization period				2 years 5 months 26 days
Expected dividends				0.00%
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average amortization period				3 years 5 months 19 days
Total stock-based compensation				$ 200
Unrecognized compensation cost for RSU				$ 3,100
2020 Stock Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Increase in number of shares authorized, percentage of capital stock outstanding						0.04
Common stock, additional capital shares reserved for future issuance (in shares) | shares	1,695,623
Shares reserved for future issuance | shares				3,739,124
Stock-based compensation, vesting period				4 years
Share-based compensation, expiration period				10 years
Share-based payment award, grants in period (in shares) | shares				165,050
Number of tranches | tranch				3
Threshold consecutive trading days				30 days
2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Increase in number of shares authorized, percentage of capital stock outstanding			0.01
Common stock, additional capital shares reserved for future issuance (in shares) | shares	423,905
Shares reserved for future issuance | shares			395,795	1,216,723
Purchase price of common stock in percent			85.00%
Contribution limit in percentage of employee's eligible compensation			15.00%
Maximum value of shares per employee during any calendar year			$ 25
Maximum number of shares per employee during any one purchase period (in shares) | shares			600
Annual increase in number of shares authorized, term		10 years
Stock issued under ESPP (in shares) | shares				11,171	5,227
Proceeds from ESPP				$ 100	$ 100

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