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Stockholders' Equity - Common Stock - Additional Information (Details) - USD ($)
 3 Months Ended 9 Months Ended 12 Months Ended
Jan. 01, 2024
Dec. 31, 2023
Oct. 12, 2022
Dec. 31, 2023
Mar. 31, 2023
Mar. 31, 2022
Jan. 26, 2024
Jul. 25, 2022
Feb. 28, 2022
Oct. 31, 2021
Mar. 31, 2021
Jan. 29, 2021
Jan. 19, 2021
Jul. 31, 2018
Aug. 31, 2015
Aug. 31, 2013
Jan. 31, 2012
Class Of Stock [Line Items]                                  
Securities authorized for offer and sale, amount                         $ 150,000,000        
Issuance of common stock from stock options exercises, net, Shares         0 0                      
IPO [Member]                                  
Class Of Stock [Line Items]                                  
Securities authorized for offer and sale, amount   $ 100,000,000   $ 100,000,000 $ 100,000,000                        
2018 Sales Agreement [Member]                                  
Class Of Stock [Line Items]                                  
Equity sales agreement expiration date       Feb. 22, 2021 Feb. 22, 2021                        
ATM Prospectus Supplement [Member]                                  
Class Of Stock [Line Items]                                  
Issuance of common stock from stock options exercises, net, Shares       2,515,483 1,580,862                        
Value of shares sold under equity distribution agreement       $ 22,900,000 $ 21,700,000                        
ATM Prospectus Supplement [Member] | At-The-Market Facility [Member]                                  
Class Of Stock [Line Items]                                  
Common stock value reserved for future issuance   $ 27,100,000   $ 27,100,000 $ 28,300,000                        
Issuance of common stock from stock options exercises, net, Shares 201,319 934,621   934,621 0                        
ATM Prospectus Supplement [Member] | At-The-Market Facility [Member] | Maximum [Member]                                  
Class Of Stock [Line Items]                                  
Common stock value reserved for future issuance                       $ 50,000,000          
2021 Shelf [Member]                                  
Class Of Stock [Line Items]                                  
Common stock value reserved for future issuance   $ 100,000,000   $ 100,000,000 $ 100,000,000                        
2024 Shelf [Member] | Subsequent Event [Member]                                  
Class Of Stock [Line Items]                                  
Securities authorized for offer and sale, amount             $ 150,000,000                    
2024 ATM Prospectus [Member] | At-The-Market Facility [Member] | Maximum [Member] | Subsequent Event [Member]                                  
Class Of Stock [Line Items]                                  
Common stock value reserved for future issuance             $ 2,605,728                    
Equity Incentive Plan 2012 [Member]                                  
Class Of Stock [Line Items]                                  
Common shares authorized to be issued     1,236,738             900,000       550,000 300,000 250,000 327,699
Shares available for issuance                           2,327,699      
Termination period of Equity Incentive Plan         10 years                        
Common stock shares issued     126,262                            
Inducement Award Agreements [Member]                                  
Class Of Stock [Line Items]                                  
Common shares authorized to be issued                 50,000                
2021 Inducement Equity Plan [Member]                                  
Class Of Stock [Line Items]                                  
Common shares authorized to be issued                     750,000            
Equity Incentive Plan 2022 [Member]                                  
Class Of Stock [Line Items]                                  
Common shares authorized to be issued     1,363,000         750,000                  
Excercise price per share     $ 2.75                            
Equity Incentive Plan 2022 [Member] | Common Stock [Member]                                  
Class Of Stock [Line Items]                                  
Common shares authorized to be issued     50,000                            
Equity Incentive Plan 2022 [Member] | Common Stock [Member] | Maximum [Member]                                  
Class Of Stock [Line Items]                                  
Common shares authorized to be issued     51,000                            
2022 Inducement Equity Plan [Member]                                  
Class Of Stock [Line Items]                                  
Common shares authorized to be issued   1,000 1,000 1,000