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Stockholders' Equity - Stock Options and Employee Stock Purchase Plan - Additional Information (Details) - USD ($) |  |  |  |  | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Aug. 28, 2023 | Feb. 22, 2022 | Oct. 07, 2021 | Mar. 08, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Mar. 31, 2023 | Mar. 31, 2022 | Oct. 31, 2023
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Voluntarily forfeited outstanding stock options |  |  |  |  |  |  | 593,384 |  |  |  |
Expired, Options Outstanding |  |  |  |  |  |  | 333,631 |  |  |  |
Stock-based compensation |  |  |  |  | $ 157,000 | $ 544,000 | $ 1,307,000 | $ 1,877,000 | $ 2,377,000 | $ 2,256,000 |
Revenue recognized |  | $ 1,500,000 |  |  | $ 5,000 | $ 131,000 | $ 80,000 | $ 208,000 | $ 370,000 | $ 1,500,000 |
Vesting criteria probability of achievement percentage |  |  |  |  |  |  |  |  | 0.00% |  |
Expense recorded |  |  |  |  |  |  |  |  | $ 0 |  |
Weighted-average remaining contractual term of stock options exercisable |  |  |  |  |  |  | 7 years 4 months 9 days |  | 8 years |  |
Weighted-average remaining contractual term of stock options outstanding |  |  |  |  |  |  |  |  | 8 years |  |
Issuance of common stock from stock options exercises, net, Shares |  |  |  |  |  |  |  |  | 0 | 0 |
Number of common stock shares approved under ESPP |  |  |  |  | 2,509,149 |  | 2,509,149 |  | 2,709,831 |  |
Expected life of options |  |  |  |  | 6 years | 6 years | 6 years | 6 years | 6 years | 5 years 9 months |
Number of stock options vested |  |  |  |  |  |  |  |  | 0 |  |
Executive Chairman [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Voluntarily forfeited outstanding stock options | 462,500 |  |  |  |  |  |  |  |  |  |
Unvested, cancelled shares | 312,918 |  |  |  |  |  |  |  |  |  |
Expired, Options Outstanding | 149,582 |  |  |  |  |  |  |  |  |  |
Executive Chairman [Member] | Selling, General and Administrative Expenses [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation | $ 519,000 |  |  |  |  |  |  |  |  |  |
Aforementioned Officer One [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock options granted |  |  | 120,000 |  |  |  |  |  |  |  |
Aforementioned Officer Two [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock options granted |  |  | 25,000 |  |  |  |  |  |  |  |
Equity Incentive Plan 2022 [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock options granted |  |  |  |  | 40,000 |  | 171,257 |  | 255,474 |  |
Number of common stock shares approved under ESPP |  |  |  |  | 1,643,798 |  | 1,643,798 |  | 1,071,471 |  |
2012 Plan [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock options granted |  |  |  |  |  |  |  |  | 255,474 |  |
2012 Plan [Member] | Executive Chairman [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock options granted |  |  | 60,000 | 120,000 |  |  |  |  |  |  |
2012 Plan [Member] | Chief Scientific Officer [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock options granted |  |  | 15,000 | 25,000 |  |  |  |  |  |  |
2016 Employee Stock Purchase Plan [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of common stock shares approved under ESPP |  |  |  |  | 75,000 |  | 75,000 |  | 75,000 |  |
Employee subscription rate |  |  |  |  |  |  |  |  | 15.00% |  |
Compensation amount per employee |  |  |  |  |  |  |  |  | $ 25,000 |  |
Fair market value at discount |  |  |  |  |  |  |  |  | 85.00% |  |
Purchase period |  |  |  |  |  |  |  |  | 6 months |  |
Initial offering period |  |  |  |  |  |  |  |  | 2016-09 |  |
Description of plan |  |  |  |  |  |  |  |  | Shares under the ESPP are purchased at 85 percent of the fair market value at the lower of (i) the closing price on the first trading day of the six-month purchase period or (ii) the closing price on the last trading day of the six-month purchase period. |  |
Shares issued under ESPP |  |  |  |  |  |  |  |  | 1,009 |  |
Shares remaining available for purchase under ESPP |  |  |  |  |  |  |  |  | 58,426 |  |
2023 Employee Stock Purchase Plan [Member] |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of common stock shares approved under ESPP |  |  |  |  |  |  |  |  |  |  | 45,000
Employee subscription rate |  |  |  |  | 15.00% |  | 15.00% |  |  |  |
Compensation amount per employee |  |  |  |  |  |  | $ 25,000,000 |  |  |  |
Number of shares per employee |  |  |  |  |  |  | 500 |  |  |  |
Fair market value at discount |  |  |  |  |  |  | 85.00% |  |  |  |
Purchase period |  |  |  |  |  |  | 6 months |  |  |  |
Initial offering period |  |  |  |  |  |  | 2024-03 |  |  |  |
Description of plan |  |  |  |  |  |  | Shares under the 2023 ESPP are purchased at 85 percent of the fair market value at the lower of (i) the closing price on the first trading day of the six-month purchase period or (ii) the closing price on the last trading day of the six-month purchase period. |  |  |  |

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