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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Jul. 31, 2020
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Dec. 31, 2022
Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Weighted average grant date fair value of options granted   $ 1.73            
Total fair value of options vested   $ 1,209            
Total unrecognized compensation expense   $ 2,891            
Total unrecognized compensation expense, weighted-average period of recognition   2 years 9 months 18 days            
Dividends   0.00% 0.00%          
Common stock, shares authorized   150,000,000         150,000,000  
2020 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for issuance   287            
Percentage of outstanding shares of common stock   1.00%            
Exercise price of option on fair value (as a percent)   85.00%            
Common stock, shares authorized   451,000           340,000
Shares of common stock have been issued to employees   164            
Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Award vesting percentage   10.00%            
Restricted Stock Awards                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Total unrecognized compensation expense, weighted-average period of recognition   4 months 24 days            
Total fair value of restricted stock awards vested   $ 2,419            
Total unrecognized compensation expense   1,643            
Restricted Stock Awards | Forecast                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of restricted stock awards are expected to vest       75,000 169,000 136,000    
Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Fair value of restricted stock units vested   $ 91            
Minimum | Incentive Stock Options And Nonqualified Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period   1 year            
Minimum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Exercise price of option on fair value (as a percent)   100.00%            
Minimum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Exercise price of option on fair value (as a percent)   110.00%            
Minimum | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period   1 year            
Maximum | Incentive Stock Options And Nonqualified Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract   10 years            
Vesting period   4 years            
Maximum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract   10 years            
Maximum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract   5 years            
Maximum | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period   4 years            
2020 Incentive Award Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for issuance 3,333,000 4,984,000            
Percentage of outstanding shares of common stock 5.00%              
2020 Incentive Award Plan | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Total unrecognized compensation expense   $ 1,334            
Total unrecognized compensation expense, weighted-average period of recognition   2 years