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Stock-Based Compensation - Additional Information (Details)
$ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Oct. 31, 2018
purchasePeriod
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
shares
Sep. 30, 2020
USD ($)
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock-based compensation expense   $ 720 $ 609 $ 2,118 $ 1,655
ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation expense   200   $ 200  
Weighted-average period expected to be recognized (in years)       7 months 6 days  
Percentage of employee's compensation, maximum 15.00%        
Offering period (in months) 24 months        
Number of purchase periods | purchasePeriod 4        
Purchase period, term 6 months        
Percentage of lower of fair market value 85.00%        
Stock-based compensation expense   100 $ 46 $ 200 $ 100
Issuance of common stock through employee share purchase plan (in shares) | shares       72,105 0
Employee Stock Option          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation expense   $ 5,100   $ 5,100  
Weighted-average period expected to be recognized (in years)       2 years 3 months 18 days