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Stockholders' Equity - Common Stock - Additional Information (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended |  |  |  |  |  |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Feb. 08, 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 |  |  |  |  |  |  |  |  |  |  |  |  |

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