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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jul. 31, 2020
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2023
Sep. 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   $ 2.1   $ 1.94          
Total fair value of options vested   $ 604   $ 1,794          
Total unrecognized compensation expense   $ 3,409   $ 3,409          
Total unrecognized compensation expense, weighted-average period of recognition       2 years 3 months 18 days          
Dividends   0.00% 0.00% 0.00% 0.00%        
Common stock, shares authorized   150,000,000   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   216   216          
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   451,000         340,000
Shares of common stock have been issued to employees       235          
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       1 month 6 days          
Total fair value of restricted stock awards vested   $ 1,387   $ 3,806          
Total unrecognized compensation expense   498   498          
Restricted Stock Awards | Forecast                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of restricted stock awards are expected to vest           75,000 168,000    
Restricted Stock Units                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Fair value of restricted stock units vested   $ 180   $ 271          
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 3,333,000 4,984,000   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   $ 1,350   $ 1,350          
Total unrecognized compensation expense, weighted-average period of recognition       1 year 8 months 12 days